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GB/T 44461.2-2024Intelligent and connected vehicles - Technical requirements and test methods for combined driving assistance systems - Part 2: Multi-lane driving control (English PDF)

智能网联汽车组合驾驶辅助系统技术要求及试验方法第2部分：多车道行驶控制

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Issued by

SAMR; SAC

Level / Type

National · Recommended

Issue date

August 23, 2024

Implementation date

August 23, 2024

Scope

GB/T 44461.2-2024 is the English-translated version of 智能网联汽车组合驾驶辅助系统技术要求及试验方法第2部分：多车道行驶控制.

GB/T 44461.2-2024 is the second part of the Chinese standard for combined driving assistance systems and it covers multi-lane driving control: the function that changes lane, either at the driver's confirmation or on its own initiative. That is the point at which a driving assistance system stops merely holding a lane and starts making a decision, and it is where the requirements become materially harder. The standard sets the technical requirements for the lane change function, the conditions under which a lane change may be initiated and those under which it must be abandoned, the detection of vehicles approaching from behind in the target lane and the required gap, the indication and the timing, the driver confirmation where it is required and the monitoring that the driver is present, the abort strategy, the behaviour on failure and at the boundary of the operational domain, and the human-machine interface. It then gives the test scenarios, the test methods and the pass criteria. For a carmaker or a supplier bringing an automatic lane change function to China, this is the governing text.

Document preview — GB/T 44461.2-2024

National Standard of the People's Republic of China

Issued by: State Administration for Market Regulation; Standardization Administration of the PRC

1 Scope
2 Normative References
3 Terms and Definitions
4 General Requirements...
4.1.4 In accordance with
4.3 Driver Operation
4.4 Cancelation of Lane Change Procedure
4.5 Prompt Signal
5 Performance Requirements...
5.5 Lane Change Requirements for Other Road Conditions
5.5.1 If the system complies with the requirements of
5.5.2 If the system complies with the requirements of
6 Test Methods
6.1 Test Conditions
6.3 Target Objects
Appendix A

1 Scope

This document specifies the general requirements and performance requirements and describes the test methods for the multi-lane manoeuvre of intelligent and connected vehicles. This document is applicable to Category-M and Category-N vehicles equipped with multi-lane manoeuvre system. NOTE. in the absence of confusion, the "multi-lane manoeuvre system" in this document is referred to as the "system" in short.

2 Normative References

The contents of the following documents constitute indispensable clauses of this document through the normative references in the text. In terms of references with a specified date, only versions with a specified date are applicable to this document. In terms of references without a specified date, the latest version (including all the modifications) is applicable to this document.

GB 5768.3 Road Traffic Signs and Markings - Part

3 Terms and Definitions

The terms and definitions defined in GB/T 44373-2024 and GB/T 44461.1-2024, and the following are applicable to this document.

3.1 multi-lane manoeuvre system A combined driver assistance system that continuously controls the lateral and longitudinal motion of the vehicle in accordance with the surrounding driving environment and assists the change procedure, including the lane change preparation phase, lane change manoeuvre phase and lane change completion phase under other road conditions that do not fall into

a) and with no less than two lanes in the vehicle driving direction, then, it has the ability to detect and respond to motor vehicles, pedestrians and non-motor vehicles, and does not enter the lane change manoeuvre phase where the lane boundary line is a solid line.

4.1.2 During the lane change manoeuvre phase, the system shall ensure that a suitable safety space is maintained with forward and backward vehicles in the target lane.

4.1.3 In addition to the safety response strategy adopted to avoid special situations, for example, collision risks, the lateral motion of the system during the lane change preparation phase and lane change manoeuvre phase shall remain continuous.

4 General Requirements...

4.1.4 In accordance with

6.6 and 6.7, carry out the test. The system shall only be able to trigger the lane change procedure when the single-lane driving control is activated; after the lane change procedure is completed, the vehicle shall automatically resume the single-lane driving control.

4.1.5 In accordance with 6.8, carry out the test. The system shall only be able to trigger the lane change procedure when no hands-off prompt signal is issued; after the lane change procedure is completed, the vehicle shall automatically resume the single-lane driving control.

4.1.6 While performing the lane change procedure, the system shall not continuously change two or more lanes.

4.1.7 When the vehicle speed is less than the vsmin-ML declared by the vehicle manufacturer, the system shall not trigger the lane change procedure.

4.2 Self-inspection The system shall complete self-inspection before triggering the lane change procedure and be equipped with at least the following self-inspection functions. When an abnormal state is detected, it shall not enter the lane change preparation phase.

a) Check whether the relevant electrical components have failed;

b) Check whether the relevant sensing elements have failed.

4.3 Driver Operation

4.3.1 The system shall at least trigger the lane change procedure through the turn signal light control part.

4.3.2 The system shall respond to the driver's active intervention in vehicle motion control.

4.3.3 After the driver cancels the lane change procedure through a single operation at any time, the system shall cancel the current lane change procedure.

4.4 Cancelation of Lane Change Procedure

4.4.1 If any of the following situations occurs while the system executes the lane change procedure, the current lane change procedure shall be cancelled.

a) The system's lane change wait reaches the upper limit of the time required in 5.3.2.

b) When the lane change manoeuvre phase starts, a hands-off prompt signal is issued. If the cancellation of the lane change procedure due to

b) may bring potential safety risks to the self-propelled motion control or other traffic participants, then, the system may adopt other safety response strategies different from the cancellation of the lane change procedure.

4.4.2 If the current lane change procedure is cancelled, then, the system may enter a new lane change procedure after the driver executes the lane change procedure triggering mode.

4.5 Prompt Signal

4.5.1 The system shall continuously emit an optical prompt signal during the lane change procedure, and when executing the safety response strategy, it shall send out a prompt signal that is different from those in other states of the system.

4.5.2 If the lane change procedure is canceled, the system shall send out a prompt signal that complies with the following requirements.

a) If the driver actively cancels the lane change procedure or the lane change procedure is canceled due to

4.4.1 a), the system shall at least notify the driver of the current system status through an optical signal;

b) If the lane change procedure is canceled due to reasons other than

4.4.1 a), the system shall at least notify the driver of the current system status through an optical signal, and additional acoustic and / or tactile signals.

4.5.3 Except for lane change wait, the system shall keep the turn signal light on during the lane change procedure and comply with the following requirements.

a) If the turn signal light control part is not in the locked position during the lane change procedure, the turn signal light shall be automatically turned off when the single-lane driving control is restored;

b) If the turn signal light control part is in the locked position during the lane change procedure, a lane change completion prompt signal shall be sent when the single-lane driving control is restored.

4.5.4 If a system fault occurs during the lane change procedure, the system shall send out an optical signal that is clearly different from other prompt signals of the system. If the system fault occurs during the lane change manoeuvre phase, additional acoustic and / or tactile signals shall be sent out; if the driver actively cancels the lane change procedure, the system's fault

b) During the wait, if the system automatically turns off the turn signal light, then, the vehicle shall automatically turn on the turn signal light again within 3 s ~ 5 s before entering the lane change manoeuvre phase;

c) After exceeding the upper limit of the lane change wait time, the system shall cancel the current lane change procedure.

5.4 Hands-off Prompt Signal In accordance with 6.13, carry out the test. During the lane change preparation phase, if the driver takes off his hands, the system shall send out a continuous optical prompt signal no later than 5 s after the hands-off. The signal shall include the basic constitutive elements representing the hands and the steering wheel, and may be accompanied by other auxiliary information, such as. explanatory text and graphics, etc.

5 Performance Requirements...

5.5.1 If the system complies with the requirements of

4.1.1 b), in accordance with 6.14, carry out the test, and it shall comply with at least one of the following requirements.

a) After the vehicle under test triggers the lane change procedure at the preset position, it does not enter the lane change manoeuvre phase before completely passing the electric two-wheeled vehicle. NOTE. if the system automatically cancels the lane change procedure, it is also deemed to have not entered the lane change manoeuvre phase.

b) If the vehicle under test enters the lane change manoeuvre phase before reaching the electric two-wheeled vehicle position, it shall comply with one of the following requirements. 1) The vehicle under test stops before reaching the electric two-wheeled vehicle position, and the vehicle deceleration does not reach 4 m/s2 or above; 2) The vehicle under test completes the lane change after passing the electric two- wheeled vehicle. Before the vehicle under test completely passes the electric two-wheeled vehicle, the lateral distance from the electric two-wheeled vehicle shall not be less than

5.5.2 If the system complies with the requirements of

4.1.1 b), in accordance with 6.15, carry out the test. It shall at least comply with one of the following requirements.

a) After the vehicle under test triggers the lane change procedure at the preset position, it does not enter the lane change manoeuvre phase before completely passing the pedestrian. NOTE. if the system automatically cancels the lane change procedure, it is also deemed to have not entered the lane change manoeuvre phase.

b) If the vehicle under test enters the lane change manoeuvre phase before reaching the pedestrian position, it shall comply with one of the following requirements. 1) The vehicle under test stops before reaching the pedestrian position, and the vehicle deceleration does not reach 4 m/s2 or above; 2) The vehicle under test completes the lane change after passing the pedestrian position. Before the vehicle under test completely passes the pedestrian, the lateral distance from the pedestrian shall not be less than

6.1 Test Conditions

6.1.1 Test road The test road shall comply with the following requirements.

a) The test road surface shall be compacted and free of irregularities (such as. large inclination angles, cracks, manhole covers or reflective bolts, etc.) that may cause abnormal operation of the sensor.

b) The test road is a long straight road containing at least three lanes and a curve containing at least two lanes, and the length and radius of curvature of the test road shall comply with the test requirements.

c) The test road surface shall be dry and flat, with no visible moisture on the surface.

d) The land width of the test road shall be

e) The test road shall be equipped with lane markings, and it shall be ensured that the lane markings are clearly visible. The lane markings shall comply with the requirements of GB 5768.3.

f) The radius of curvature of the straight test road shall be greater than or equal to 5 km. The curved test road shall be a straight section connected to a curved section, with the length of the curve supporting the completion of the test. This curve is divided into a fixed curvature part and a variable curvature part. The radius of curvature RBC of the lane boundary line between the original lane and the target lane in the fixed curvature part is 500 m. The variable curvature part is the connecting section of the straight section and the fixed curvature part of curve, and its curvature shall linearly change with the length of the curve, gradually increasing from 0 to 1/RBC; the curvature change rate dc/ds shall not exceed 4 105 m2, as shown in Figure 3.

b) For commercial vehicles, unless otherwise specified, the load of Category-M2 and Category-M3 urban buses is 65% of the loading mass; the other vehicles shall be full- loaded, and the passenger mass and loading requirements shall comply with the provisions of GB/T 12534.

c) During the test, the load of the vehicle under test shall not be adjusted.

6.2.2 The tires used in the test shall be run-in to normal condition, and the tire pressure shall be the cold inflation pressure recommended by the vehicle manufacturer.

6.3 Target Objects

6.3.1 Target vehicle The target vehicle shall be a passenger car, and the wheelbase shall be within the range of

3.0 m. As an alternative, a flexible target with characterization parameters representative of the above-mentioned vehicle and adapted to the system sensors can also be adopted.

6.3.2 Target electric two-wheeled vehicle The target electric two-wheeled vehicle shall be an ordinary mass-produced electric two- wheeled vehicle or a flexible target that complies with national standards, has the characterization parameters that can represent the above-mentioned electric two-wheeled vehicle, and is adapted to the system sensors. The length of the electric two-wheeled vehicle shall be (1.8 0.2) m, the height (excluding adult riders) shall be (1.1 0.2) m, and the width shall be (0.7 0.2) m.

6.3.3 Target pedestrian The target pedestrian shall use a flexible target with characterization parameters representative of adults and adapted to the system sensors. The height shall be (1.8 0.1) m (excluding tracks).

6.4 Requirements for Test Guide Vehicle If the vehicle under test requires the assistance of a guide vehicle to drive at the speed required by the test, a guide vehicle can be set up during the test, but it shall not have an impact on the test results.

6.5 Requirements for Test Equipment During the test, the test instruments and equipment shall comply with the following requirements.

a) The frequency of the sampling and storage of dynamic data shall be greater than or equal to 100 Hz.

b) Accuracy requirements.

Appendix A

(normative) Functional Safety Requirements A.1 Overview When vehicle safety-related electrical / electronic systems have a malfunction, it will lead to potentially harmful events. GB/T 34590 (all parts) clarifies the functional safety requirements that vehicle safety-related electrical / electronic systems need to comply with within the safety life cycle, so as to avoid or reduce risks caused by system malfunctions. The functional safety requirements of the multi-lane manoeuvre system include requirements for documentation, verification and validation of functional concept and functional safety concept. They are not aimed at the nominal performance of the system, nor are they used as a specific guide for the functional safety development of the system. Instead, they are the methods followed during the design and the information available during system verification and validation, so as to prove that the system realizes the functional concept and functional safety concept in non-faulty and faulty states. A.2 Documentation A.2.1 Requirements Corresponding documentation shall be available to describe the functional concept of the system, the functional safety concept developed to achieve the safety objectives, as well as the safety strategy, the development process and methods, so as to demonstrate that the system.

a) Ensure that the system can realize the functional concept and functional safety concept in both non-faulty and faulty states through design;

b) The development process and methods are applicable. A.2.2 System description A.2.2.1 The functional concept of the system shall be described, that is, a list of purposes and functional descriptions. A.2.2.2 The scope of the system shall be defined, subsystems and elements shall be clarified, and external systems or elements with interactive relations shall be identified. A.2.2.3 The operating conditions and constraints of the system shall be defined, and the limits of the effective working scope shall be stated for the corresponding system functions. A.2.3 System layout and schematic diagram A.2.3.1 List of system components A list of components shall be provided, which shall include all component units of the system, and shall also list other vehicle systems required to achieve the relevant control functions. A system layout and schematic diagram shall be provided based on these component units, which shall clearly demonstrate the component distribution and interconnection. A.2.3.2 Unit functions The functions of each unit of the system shall be outlined, and the signal connections between this unit and other units or other vehicle systems shall be demonstrated. Marked block diagrams or other schematic diagrams may be used, or illustrations may be aided by diagrams. A.2.3.3 Interconnection Use circuit diagrams, piping diagrams and layout diagrams to respectively illustrate the interconnections of the electronic transmission chain, hydraulic transmission chain and mechanical connection devices within the system. A.2.3.4 Signal flow, operational data and priority order The transmission chain between units shall have clear corresponding relations with signals and operating data. If the priority order affects the performance or safety described in this document, the priority order of signals and operating data in the multiple data channels shall be determined. A.2.3.5 Unit identification Each unit shall be clearly and unambiguously identified (for example, identification of hardware, identification of software content or software output) and appropriate descriptions shall be provided. When a unit or a single processor that integrates multiple functions appears multiple times in the block diagram, for clarity and ease of explanation, only one hardware identification mark is used. Identification marks shall be used to confirm that the device provided is consistent with the corresponding documentation. The identification marks shall clearly indicate the version of the hardware and software. If the version change causes changes in the functions described in this document, the identification marks shall be changed accordingly. A.2.4 Hazard analysis and risk assessment The functional faults of the system shall be analyzed and classified. Hazard analysis and risk assessment at the vehicle level shall be carried out based on the target usage scenarios and target users of the vehicle under system control. In addition, the corresponding automotive safety integrity level (ASIL) and safety objectives shall be defined, see Chapter 6 in GB/T 34590.3-2022. A.2.5 Functional safety concept A.2.5.1 It shall be ensured that the safety strategy selected to achieve the safety objectives does not affect the safe operation of the vehicle in the non-faulty and faulty states. The functional safety requirements for system-related hazards shall be put forward, and at least the following aspects shall be adopted to prove that the system will not cause unreasonable hazard risks to the entire vehicle due to abnormal functional performance.

a) All vehicle hazard risks identified have been considered and reasonable safety objectives have been formulated;

b) The safety objectives formulated are applicable and adequate for the target market. A.2.5.2 When a system fault occurs, corresponding safety measures (including external measures) shall be designed to satisfy the safety objectives, such as.

a) Utilize part of the system to maintain work. When a specific failure occurs, when choosing an operating mode that maintains part of the performance, the conditions shall be explained, and its effect shall be defined;

b) Switch to an independent backup system. If the mode of backup system is selected to achieve the safety objectives, the principle of the switching mechanism, the logic and level of redundancy, and backup system examination characteristics shall be explained, and the effect of the backup system shall be defined;

c) Enter a safe state by shutting down upper-level functions;

d) By warning the driver, reduce the risk exposure time to an acceptable time interval. A.2.5.3 The architectural outline of the software in the system, the logic in the design and development process, and the design methods and tools used shall be described. A.2.5.4 When the relevant functions of the system fail, the driver shall be warned through warning signals or prompt messages. A.2.6 Safety analysis A.2.6.1 The above documentation shall be supported by safety analysis that generally demonstrates the effective identification and handling of hazards and fault groups affecting vehicle motion control and safety objectives. The safety analysis shall include, but not be limited to the following content.

a) Safety analysis at the vehicle level, which confirms the following. 1) Interaction with other vehicle systems; 2) Abnormal functional performance; 3) Safety risks in the non-faulty state.

b) Safety analysis at the system level, which may adopt potential failure mode and effects analysis (FMEA), fault tree analysis (FTA) or other similar methods suitable for system safety analysis.

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This preview omits tables, figures, formulas and parts of the technical clauses. The complete document — 14 pages — is available in the English PDF.

Referenced standards

Normative references

GB 5768.3Traffic signs and markings - Part 3: Traffic markings

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