RELEASE DATE：2021-06-10 20:20
Brief: With the popularity of assisted driving systems, features such as lane-keeping and automatic lane change are becoming standard configurations in an increasing number of vehicles on sale. CSF and ESF refer to the corrective steering function and emergency steering function respectively. According to the UN R79 regulation, vehicles equipped with ACSF, CSF, and ESF functions need to be tested and achieve the E-mark type approval of R79 in order to get access to the EU market.
MAIN TECHNICAL POINTS AND TEST REQUIREMENTS OF ACSF, CSF, ESF
Annotation: Vsmin means the minimum speed down to which an ACSF is designed to operate. Vsmax means the maximum speed up to which an ACSF is designed to operate.
No. | Classification | Main technical requirements | Test pass conditions | Common product function names |
1 | ACSF A | Whenever the system becomes operational, this shall be indicated to the driver. | Refer to the main technical requirements | APA |
The system shall be able to be deactivated by the driver at any time. If a door or trunk of the vehicle is opened during the parking manoeuvre, the vehicle shall stop immediately. | ||||
If the ACSF A is remote controlled parking (RCP), the specified maximum RCP operating range shall not exceed 6 m. A direct influence on steering angle, value of acceleration and deceleration via the remote control device shall not be possible. | ||||
2 | ACSF B1 | (1) Lane keeping functional test : The test shall be carried out for each speed range of the four speed range: 10-60km/h，60-100km/h，100-130km/h，above 130km/h. The vehicle shall be driven without any force applied by the driver on the steering control (e.g. by removing the hands from the steering control) with a constant speed on a curved track with lane markings at each side. The necessary lateral acceleration to follow the curve shall be between 80 and 90 percent of the maximum lateral acceleration specified by the vehicle manufacturer aysmax. | The outer edge of the front wheels of the vehicle does not cross the outer edge of any lane marking; The moving average over half a second of the lateral jerk does not exceed 5 m/s3. | LCC |
(2) Maximum lateral acceleration test: The test shall be carried out for each speed range of the four speed range: 10-60km/h，60-100km/h，100-130km/h，above 130km/h. The vehicle shall be driven without any force applied by the driver on the steering control (e.g. by removing the hands from the steering control) with a constant speed on a curved track with lane markings at each side. | The recorded acceleration is within the limits specified in this Regulation. The moving average over half a second of the lateral jerk does not exceed 5 m/s3. | |||
(3) Overriding force test: The vehicle shall be driven without any force applied by the driver on the steering control (e.g. by removing the hands from the steering control) with a constant speed on a curved track with lane markings at each side. The necessary lateral acceleration to follow the curve shall be between 80 and 90 percent of the maximum lateral acceleration specified by the vehicle manufacturer aysmax. | The force applied by the driver on the steering control during the overriding manoeuvre is less than 50N. | |||
(4) Transition test; hands-on test: The vehicle shall be driven with activated ACSF with a vehicle test speed between Vsmin + 10 km/h and Vsmin + 20 km/h on a track with lane markings at each side of the lane. The driver shall release the steering control and continue to drive until the ACSF is deactivated by the system. The test shall be repeated with a vehicle test speed between Vsmax - 20 km/h and Vsmax - 10 km/h or 130 km/h whichever is lower. | The optical warning signal was given at the latest 15 s after the steering control has been released and remains until ACSF is deactivated. The acoustic warning signal was given at the latest 30 s after the steering control has been released and remains until ACSF is deactivated. The ACSF is deactivated at the latest 30 s after the acoustic warning signal has started, with an acoustic emergency signal of at least 5 s, which is different from the previous acoustic warning signal. | |||
3 | CSF | (1) Warning test for CSF: The vehicle shall be driven with an activated CSF on a road with lane markings on each side of the lane. Reference test speed 72±1km/h. The vehicle shall be driven such that it attempts to leave the lane and causes CSF intervention to be maintained for a period longer than 10 s (for M1, N1). | The acoustic warning is provided no later than 10 s (for M1, N1) after the beginning of the intervention. The vehicle shall be driven such that it attempts to leave the lane and causes at least three interventions of the system within a rolling interval of 180s. An optical warning signal is provided for each intervention, as long as the intervention exists, and an acoustic warning signal is provided at the second and third intervention, and the acoustic warning signal at the third intervention is at least 10 s longer than the one at the second intervention. | LKA |
(2) Overriding force test: The vehicle shall be driven with an activated CSF on a road with lane markings on each side of the lane. Reference test speed 72±1km/h. CSF shall be activated. | The force applied by the driver on the steering control to override the intervention does not exceed 50 N. | |||
4 | ESF | (1) Test for ESF Type a i/ii (unintentional lateral manoeuvre): A target vehicle driving in the adjacent lane shall approach the vehicle under test and one of the vehicles shall minimize their lateral separation distance until an ESF intervention is started. Reference test speed 72±1km/h. | The optical, acoustic, tactile warning signal are provided no later than the ESF intervention starts, and the ESF intervention does not lead the vehicle to leave its original lane. | ELK |
(2) Test for ESF Type a iii (intentional lateral manoeuvre): The vehicle under test starts a lane change while another vehicle is driving in the adjacent lane such that no intervention of the ESF system would lead to a collision. Reference test speed 72±1km/h. | An ESF intervention is started, and the optical, acoustic, tactile warnings are provided no later than the ESF intervention starts, and the ESF intervention does not lead the vehicle to leave its original lane. ESF avoids vehicle collisions. |
THE PROCEDURE OF TYPE APPROVAL
1.Application Submission
2.Initial Assessment
3.Technical Documents and Samples Preparation
4.Sample Delivery and Testing
5.Prepare test report and certificate
6.Submit test report and certificate
7.Issuance Certificate
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Bruce Chen
Vehicle Homologation Project Engineer
Bruce holds a Master's degree from Nanjing University of Technology, in ATIC, he is the professional driver & racer and type approval testing engineer
Phone: +86 020-82510156
Mail: cs@atic-cn.com
Mail: cs@atic-cn.com