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CICAP-B.1-2022 English PDF (CICAP-B.1-2022)

CICAP-B.1-2022 English PDF (CICAP-B.1-2022)

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CICAP-B.1-2022: China intelligent connected vehicle technical regulations - Appendix B.1: Basic parking assistance evaluation detailed-rules

China intelligent connected vehicle technical regulations - Appendix B.1: Basic parking assistance evaluation detailed-rules
CICAP Annex B.1
C-ICAP
CHINA INTELLIGENT CONNECTED VEHICLE
TECHNICAL REGULATIONS (C-ICAP)
Annex B.1
Evaluation Rules for Basic Parking Assist (Version 1.0)
December 2022
Table of Contents
1 Evaluation method ... 3
1.1 Indicator system ... 3
1.2 Indicator weight distribution ... 4
1.2.1 Weight distribution of level-one indicators ... 4
1.2.2 Weight distribution of level-two indicators ... 4
1.2.3 Weight distribution of level-three indicators ... 4
1.3 Scoring method ... 5
1.3.1 Calculation method for level-one indicator score ... 5
1.3.2 Calculation method for level-two indicator score ... 6
1.3.3 Calculation method for level-three indicator score ... 6
2 Test methods ... 12
2.1 Scope of application ... 12
2.2 Normative references ... 12
2.3 Terms and definitions ... 13
2.4 General ... 13
2.5 Test conditions ... 14
2.5.1 Test site conditions ... 14
2.5.2 Test weather conditions ... 14
2.5.3 Equipment requirements ... 15
2.5.4 Test procedure ... 15
2.6 Test items ... 16
2.6.1 Parking capacity in front of parking space ... 16
2.6.2 Remote parking capability in front of parking space ... 35
Evaluation Rules for Basic Parking Assist
1 Evaluation method
1.1 Indicator system
The indicators for basic parking assist are shown in Table 1-1.
In the formula, Si is the score of the level-one indicator; i is the serial number of the level-one indicator; j is the serial number of the level-two indicator; ni is the number of the level-two indicators. Sij and bij are the scores of the level-two indicators and the weights of the corresponding level-two indicators, respectively.
1.3.2 Calculation method for level-two indicator score
The scores of the level-two indicators are calculated based on the scores and weights of the level-three indicators. Keep two decimal places. The calculation method is shown in formula 1-3.
In the formula, Sij is the score of the level-two indicator; i is the serial number of the level-one indicator; j is the serial number of the level-two indicator; z is the serial number of the level-three indicator; nij is the number of the level-three indicators. Sijz and bijz are the scores of the level-three indicators and the weights of the corresponding level-three indicators, respectively.
1.3.3 Calculation method for level-three indicator score
Each test item needs to be repeated 3 times. It shall be able to identify the target parking space and complete the parking operation at least twice. Take the best performance as the final grade. If the vehicle direction control only includes lateral control, the longitudinal control evaluation indicators in all the following scenarios will not be scored.
1.3.3.1 Description of parallel parking space score
1.3.3.1.1 Description of score for parallel parking space - spatial parking space See Table 1-5 for the test scenarios and scoring rules for parallel parking space - spatial parking space.
1.3.3.4 Description of remote control failure
1.3.3.4.1 Description of score for continuous loss of remote control of remote parking assist
(1) When there is no remote control failure, the remote control parking function can be turned on normally; after the remote control function is lost, when the vehicle under test exits/pauses the parking assist state, the vehicle stops, the system alarms and the braking distance is not greater than 0.7 meters, it shall have 100 scores.
(2) When there is no remote control failure, the remote control parking function can be turned on normally; after the remote control function is lost, when the vehicle under test exits/pauses the parking assist state, the vehicle brakes, it shall have 80 scores.
1.3.3.5 Description of misuse of remote control function
1.3.3.5.1 Description of score for misuse of remote control function of remote parking assist
Within 6 m of the remote control distance, if the remote control parking function can be turned on normally, in the three tests of 2.6.2.2 test method (2), the remote parking function is not turned on, it shall have 100 scores.
2 Test methods
2.1 Scope of application
This Specification applies to M1 passenger cars.
2.2 Normative references
The provisions in the following documents become part of this Specification, through reference in this Specification. For dated references, their subsequent amendments (excluding corrigendum) or revisions do not apply to this Specification. For undated reference documents, the latest versions apply to this Specification.
GB 5768.3, Road traffic signs and markings - Part 3: Road traffic markings ISO 16787, Intelligent transport systems - Assisted parking systems (APS)- Performance requirements and test procedures
JGJ 100, Code for design of parking garage building
05MR404(GJBT-855), City road - Curbs
2.3 Terms and definitions
Vehicle under test
The vehicle that is capable of continuously controlling both lateral and longitudinal motion and is tested in accordance with this test procedure.
Number of parking
During the process of parking the vehicle, when the gear position is shifted to Gear R and the vehicle is moving, it is counted as the first parking. During the parking process, when the gear position is switched from R to D or from D to R, they shall be counted as one parking respectively.
2.4 General
The test of each scenario consists of two parts: test of parking space search capability & test of parking capacity.
It can only carry out 3 tests at most for each test scenario. In the 3 tests, if it can identify parking space and completes parking twice, it is considered that the scenario has passed the test. Take the better one of the two tests for scoring. If the parking space can be identified and the parking is completed in the first two tests, the third test will not be carried out. If the vehicle does not identify the parking space or cannot complete parking for 2 or more times in the 3 tests, then the working condition fails the test. For the following scenario tests, unless otherwise specified, the following validity requirements must be met:
1) The length of the vehicle under test is marked as X, and the width is marked as Y. 2) The lateral spacing d1 and d2 of the vehicle under test is 1.2??0.2 m. 3) During the parking capability test, the driving trajectory shall avoid collision with the objects detected by the vehicle under test.
2.5.4.1.2.1 Make sure that the vehicle under test is loaded with a spare wheel (if equipped) and vehicle tools. There shall be no other items in the vehicle. 2.5.4.1.2.2 Make sure that all tires are inflated to the manufacturer's recommended tire pressure for the current load.
2.5.4.2 Test preparation
2.5.4.2.1 Active hood system
When the failure of the active hood system of the vehicle does not affect the normal operation of the system, the system shall be disabled before the test.
2.5.4.2.2 Airbag system
When the failure of the airbag system of the vehicle does not affect the normal operation of the system, the system shall be disabled before the test.
2.6 Test items
2.6.1 Parking capacity in front of parking space
2.6.1.1 Level parking capacity
2.6.1.1.1 Parallel parking space - spatial parking space
(1) Test scenario
The parking space consists of two stationary vehicles and a curb. The stationary vehicles are aligned in the same direction and parallel to each other. The difference between the width of the vehicle on both sides and the width of the vehicle under test is within 15 cm, as shown in Figure 2-3.
Figure 2-3: Schematic diagram for the scenario of parallel parking space - spatial parking space
In this scenario, the parking space is divided into standard size and narrow size. According to the length of the parking space, conduct tests according to the scenarios listed in Table 2-1.
Figure 2-18-2: Schematic diagram for target area ??d
(3) Exit conditions
1) The system prompts function failure.
2) The vehicle outline collides with an obstacle vehicle during parking. 3) The vehicle cannot complete the parking action.
2.6.1.2.3 Column obstacle on one side of perpendicular parking space
(1) Test scenario
The parking space is formed by white marking lines. The line width is 15 cm. Place a stationary M1 vehicle in the center of the parking space adjacent to the target parking space. The target parking space is placed adjacent to the square column. The size of the square column is 0.7 m long, 0.75 m wide and 1.9 m high. The square column is placed adjacent to the two target parking spaces and flush with the outer edge of the parking space marking lines. As shown in Figure 2-19, the length of the parking space is X0=5.9 m, and the width Y0=2.4 m. Place an obstacle vehicle 5.5 m in front of the parking space, so as to limit the front parking space for perpendicular parking. In this scenario, one of the two target parking spaces can be randomly selected for the parking test. The scenario is shown in Figure 2-19.
Figure 2-19: Schematic diagram for the scenario of column obstacle on one side of perpendicular parking space
During the test, conduct the test according to the scenarios listed in Table 2-7. Table 2-7: Test scenario for perpendicular parking space - parking space with parking space lines
(2) Test method
1) For the test method, refer to the test method for perpendicular parking space - spatial parking space. The test scenario is shown in Figure 2-20. Randomly select the left or right target parking space for testing. During the test, it is not allowed to change the direction of the target parking space relative to the vehicle under test.
Figure 2-20: Test schematic diagram for column obstacle on one side of
perpendicular parking space
2) After the test is completed, record the number of parking. Measure the minimum distance ??d between the outer ground contact point of the front and rear tires of the vehicle under test & the inner side of the parking space boundary line. Calculate the vehicle parking attitude ??2 by ??d. The inner distance between the front end and the rear end of the vehicle from the parking space line is ??l, as shown in Figure 2-21.
Figure 2-21-1: Schematic diagram for ??2
Figure 2-21-2: Schematic diagram for target area ??d
(3) Exit conditions
1) The system prompts function failure.
2) The vehicle outline collides with an obstacle vehicle or a square pillar obstacle during parking.
3) The vehicle cannot complete the parking action.
2.6.1.2.4 Pedestrian interference during parking
Figure 2-23: Schematic diagram for the scenario of pedestrian interference during parking
(3) Exit conditions
1) The system prompts function failure.
2) The vehicle does not detect pedestrians during parking and a collision occurs. 2.6.1.3 Angle parking capacity
2.6.1.3.1 Angle parking space - spatial parking space
(1) Test scenario
The parking space is composed of parallel stationary vehicles on both sides. The difference between the length of the vehicle on both sides and the length of the vehicle under test is within 10 cm. The front ends of vehicles are aligned. The inclination angle of the stationary vehicle is 45??. The test scenario is shown in Figure 2-24. Figure 2-24: Schematic diagram for the scenario of angle parking space - spatial parking space
In this scenario, the parking space is divided into standard size and narrow size. During the test, conduct the test according to the scenarios listed in Table 2-9. (2) Test method
1) Start the vehicle. Turn on the parking assist function. Drive the vehicle under test to the starting point. Make sure that the lateral spacing d1 and d2 between the vehicle under test & the parking space meet the requirements in Table 2-9 before the test starts. The test scenario is shown in Figure 2-25. Select the target parking space on the right to test. During the test, it is not allowed to change the direction of the target parking space relative to the vehicle under test.
Figure 2-25: Test schematic diagram for angle parking space - parking space with parking space lines
2) After the test is completed, record the number of parking. Measure the distance ??d between the outer ground contact point of the front and rear tires of the vehicle under test & the inner side of the parking space boundary line. Calculate the vehicle parking attitude ??3 by ??d. The projected distance between the front end of the vehicle and the front end reference line of the vehicles on both sides is ??x, as shown in Figure 2-26.
Figure 2-26-1: Schematic diagram for ??3
Figure 2-26-2: Schematic diagram for target area ??d
Figure 2-26-3: Schematic diagram for target area ??x
(3) Exit conditions
1) The system prompts function failure.
2) The vehicle outline collides with stationary vehicles on both sides during parking. 3) The vehicle cannot complete the parking action.
2.6.1.3.2 Angle parking space - parking space with parking space lines
(1) Test scenario
As shown in Figure 2-27, use three consecutive angle parking spaces with marking lines to test. Check whether the vehicle under test can accurately identify the parking space, whether it can provide the driver with alternative parking spaces, and whether the vehicle can be accurately parked after the driver selects a parking space. There are no other obstacles on both sides of the parking space. The parking space is formed by white marking lines. The line width is 15 cm. As shown in Figure 2-27, the length of the parking space is X0=7 m, and the width Y0=2.4 m. The length and width of the parking spaces are the distances inside the parking space marking lines.

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