98

(Autonomous Emergency Braking, AEB)Euro NCAP Test Protocol [2][3]

UN/ECE R131( 72 )[4]

(Forward Collision Warning, FCW)

Euro NCAP Test Protocol [2]

test [5]

ISO 15623 [6]

(Brake Assist System, BAS) UN/ECE R139( 84 )[7]

(Lane Support Systems, LSS)

(Lane Departure Warning, LDW)

ISO 17361[8]

Euro NCAP Test Protocol [9]

UN/ECE R130( 70 )[10]

(Lane Keep Assistance, LKA)

Euro NCAP Test Protocol [9]

ISO 11270 [11]

(Emergency Lane Keeping, ELK)

Euro NCAP Test Protocol [9]

(Blind Spot Warning, BSW) ISO 17387 [12]

(Electronic Stability Control, ESC) UN/ECE R140( 85 ) [13]

(Vehicle Stability Function, VSF)UN/ECE R13 Annex21( 42-3

6.9 ) [14]

/(Speed Assist System, SAS/Speed Limitation Devices, SLD)

Euro NCAP Test Protocol [15]

UN/ECE R89( 76 ) [16]

(Seatbelt Reminder, SBR) Euro NCAP Assessment Protocol [17]

1.

99

(AEB) (FCW)

(AEB)

(Autonomous Emergency Braking, AEB) (Forward Collision Warning, FCW) FCW

AEB AEBFCW Euro NCAP AEB

(AEB City System) (AEB Inter-Urban System) (AEB VRU System) 1 2 3 AEB FCW

AEB City System Euro NCAP(Car-to-Car Rear Stationary,

CCRs)10~50km/h

(Lateral Overlaps) 50%+50% 5 1

AEB

5km/h

AEB Inter-Urban SystemCCRs AEB City System

30~80km/h(Car-to-Car Rear Moving, CCRm)

(Car-to-Car Rear Braking, CCRb) 1 CCRm

20km/h 30~80km/h

CCRs 50%+50% CCRb50 km/h

50km/h 12

40m2 6m/S2 AEB Inter-Urban

System AEB City SystemCCRs

AEB VRU System Euro NCAP(AEB Pedestrian System)

(AEB Cyclist System) 2 AEB Pedestrian System

(8 km/h)

(5km/h)25% 75%

(5km/h)

(5km/h)25%

Euro NCAP

AEB City System AEB Inter-Urban System

100

1. Euro NCAP AEB [2]

2. Euro NCAP AEB [3]

101

4. AEB [4]

3. Euro NCAP AEB [3]

AEB Cyclist System 3

15km/h

15km/h 20km/h

25%

AEB Euro NCAP / (United Nations/Economic Commission for Europe, UN/ECE) R131 [4]

AEB 2019 Euro NCAP CCRs CCRm

AEB

102

4 AEB1

80km/h 12km/h AEB 1.4 0.8

20km/hAEB

4 2

(FCW)Euro NCAP AEB Inter-Urban System

FCWAEB

1 CCRs CCRm CCRb

AEB

FCW (TFCW) 1 0.2

4m/s2

Euro NCAP

(Driving robots)FCW

NHTSA) [5]

Euro NCAP AEB Inter-Urban System

… Euro NCAPEuro NCAP -50%

+50% 5 1 5

NHTSA FCW

CCRs CCRm CCRb

(Time to collision, TTC)2.1 2.0 2.47 5

(International Organization for Standardization, ISO) FCWISO 15623[6]

72km/h

±2 m 15% 770%

72 km/h 29 km/h

20.4 m

272 km/h

12 m

103

5. FCW [2][5]

Euro NCAP(AEB Inter-Urban) NHTSA

1. Car-to-Car Rear Stationary (CCRs)

30 to 80 km/h 72 km/h (45 mph)

0 0

-4 m/s2 @ TFCW+1.2 s

FCW7 5

2. Car-to-Car Rear Moving (CCRm)

50 to 80 km/h 72 km/h (45 mph)

20 km/h 32 km/h (20 mph)

-4 m/s2 @ TFCW+1.2 s

FCW7 5

3. Car-to-Car Rear Braking (CCRb)

50 km/h 72 km/h (45 mph)

50 km/h 72 km/h (45 mph)

-4 m/s2 @ TFCW+1.2 s

2 m/s2 6 m/s2

@ 12 m 40 m0.3 g (2.94 m/s2)@ 30 m

FCW7 5

72 km/h 2

104

2. ISO 15623 FCW 3 [6]

(BAS)(Brake Assist System, BAS)

BASABS

/ (UN/ECE) R139[7] BASA B

A BAS 100 km/h ABSABS (FABS) (aABS) 3(a)

105

3. BAS [7]

(LSS)FCW AEB BAS

(Lane Support Systems, LSS) Euro NCAP [9] Euro NCAP LSS

3(Emergency Lane Keeping, ELK) (Lane Keep Assistance, LKA) (Lane Departure Warning, LDW)

BAS (Threshold force, FT) (Threshold deceleration, aT)BAS ABS (aABS) FABS,

extrapolated 100 km/h BAS ABS：BAS (FABS - FT)

BAS (FABS, extrapolated - FT) 40% 80% FABS FABS, min

FABS, max BASB BAS A ABS (FABS)

(aABS) 100 km/h BAS ABS t = to + 0.815 km/h 50%~70% FABS 3(b)

t = to + 0.8 15 km/h (aBAS) 85% aABS

B BAS 50% 70% ABS85% ABS

106

6 Euro NCAP LSS ELK72 km/h

72 km/h 72 80 km/h (Rate of Departure ) 0.3~0.6

107

(km/h) (m/s)

720.1~0.3 4 4

0.6~0.8 4 4

(km/h) (m/s)

720~0.4 1 1 1 1

0.4~0.8 1 1 1 1

7. ISO 17361 LDW [8]

m/s 0.5~0.7 m/s

ELK

72 km/h0.2~0.5 m/s ELK

0.1 mELK

LKALKA

LKAELK

LKA 6

8 72 km/h0.2~0.5 m/s LKA

0.3 m

LDW LKA

LDW 0.2 m

ISO LDW LKAISO 17361 [8] ISO 11270 [11]

ISO 17361 250 m 500 m

LDW 772 km/h

0.1~0.3 m/s 0.6~0.8 m/s0~0.4 m/s

0.4~0.8 m/sLDWS

0.3 m1 m

0.75~1.5 m

108

ISO 11270 400~800 m LKA72 km/h 0.2~0.6 m/s

LKA 40.4 m LKA 1.1 m

72 km/h5 LKA

1/ (UN/ECE) R130 [10]

LDW 4 65 km/h

250 mLDW 0.1~0.8 m/s

0.3 m

4. LDW [10]

• 65 km/h• 250 m

• 65 km/h• 0.1~0.8 m/s

(BSW)(Blind Spot Warning, BSW)

BSW ISO 17387 [12] BSW 5C 3 m 0.5 m F

2.5 m

8

109

5. ISO 17387 BSW [12]

72 km/h30 m 76~83 km/h

2~3 m BSW

BSW

6.5 ~ 7.5 m

BSW

BSW72 km/h

3 m 5 H

0.25 ~ 0.75 m/s MM H

110

(km/h)

(m/s) (m)

72 76~83 -- 2 ~ 3

76~83 72 -- 2 ~ 3

72 76~83-- 6.5 ~ 7.5

76~83 72

72 0.25 ~ 0.75 --

8. ISO 17387 BSW [12]

(ESC/VSF)(Electronic Stability Control, ESC)

/ (UN/ECE) R140 [13] ESC 2018(Sine with Dwell)

ESC(Steering robots)

Sine with Dwell 0.3 G(G )A A 80 km/h 13.5°/s

0.5 G 13 0.3 G A

Sine with Dwell 80 km/h 6 0.7 Hz 2

0.5 A 1.50.5 A A 2.0

0.5 A A 6.5 270°300°

ESC (yaw rate)1 1.75

6 peak 35% 20% ESC

111

J •

VSF • VSF

• VSF

• VSF ( :)

9. (VSF) [14]

A 51.07 1.52 m 3.5 1.83 m

3.5 ESC

/ (UN/ECE)R13 Annex 21

VSF 2019 2020VSF

9J

VSFVSF

VSF 6. Sine with Dwell[13]

112

5 km/h10 s

:30 50 80 km/h -5~+0 km/h

(SAS) (SLD)(Speed Assist System, SAS)

Euro NCAP [15]

10

100 km 10

5 km/h10 s

10. Euro NCAP SAS [15]

…

3050 80 km/h 15 km/h

5 km/h

113

SLD

10 km/h30

3 km/h

• SLD 20%( 20 km/h ) • SLD 10 km/h

1±0.2 ( )30

• 20%

• 3 km/h

• 3 km/h

SLD

10 km/hSLD 30

• ( ±5 km/h

±5% ) •

±2 km/h ±4%

• 400 5

•

• ( ±5 km/h

±5% ) • 5

3 km/h

11. SLD [16]

SAS (Speed Limitation Devices, SLD)SAS

UN/ECE R89 [16] 2018

11 SLD

SLD

114

(SBR)(Seatbelt Reminder, SBR)

Euro NCAP[17] SBR 12 SBR

25 km/h 123090

7

(RTK DGPS) AEB ESCLSS BSW ESC Sine with Dwell 6

Euro NCAP AEB 8

Euro NCAP AEBEuro NCAP AEB CCRs CCRm

12. Euro NCAP SBR [17]

115

8(c)

Euro NCAP AEB FCWEuro NCAP

7. 8. Euro NCAP AEB

116

[1] B. Fildes et al. (2015), “Effectiveness of Low Speed Autonomous Emergency Braking in Real world Rear-end Crashes”, Accident Analysis & Prevention, Vol. 81.[2] Euro NCAP (2017), “Euro NCAP Test Protocol – AEB systems V2.0.1”.[3] Euro NCAP (2019), “Euro NCAP Test Protocol – AEB VRU systems v2.0.4”.[4] UN/ECE(2016), “Uniform provisions concerning the approval of motor vehicles with regard to the Advanced Emergency Braking Systems ” , Regulation No.131.

[6] ISO(2013), “Intelligent transport systems –Forward vehicle collision warning systems – Performance requirements and test procedures”, ISO 15623.[7] UN/ECE(2019), “Uniform provisions concerning the approval of passenger cars with regard to Brake Assist Systems (BAS)”, Regulation No.139.[8] ISO(2007), “Intelligent transport systems–Lane departure warning systems–Performance requirements and test procedures”, ISO 17361.[9] Euro NCAP (2018), “Euro NCAP Test Protocol –Lane Support Systems V2.0.2”.[10] UN/ECE(2016), “Uniform provisions concerning the approval of motor vehicles with regard to the Lane Departure Warning System”. Regulation No.130.[11] ISO(2014), “Intelligent transport systems–Lane keeping assistance systems (LKAS) –Performance requirements and test procedures”, ISO 11270.[12] ISO(2008), “Intelligent transport systems -- Lane change decision aid systems (LCDAS) -- Performance requirements and test procedures.” ISO 17387.[13] UN/ECE(2017), “Uniform provisions concerning the approval of passenger cars with regard to Electronic Stability Control (ESC) Systems”, Regulation No.140.[14] UN/ECE(2019), “Uniform provisions concerning the approval of vehicles of categories M, N and O with regard to braking”, Annex21, Regulation No.13.[15] Euro NCAP (2017), “Euro NCAP Test Protocol – Speed Assist System V2.0”. [16] UN/ECE(2019), “Uniform provisions concerning the approval of SLD or ASLD :” , Regulation No.89.[17] Euro NCAP (2018), “Euro NCAP Assessment Protocol – Safety Assist V8.0.4”.