ISO INTERNATIONAL STANDARD 22737 First edition 2021-07 Intelligent transport systems Low- speed automated driving (LSAD) systems for predefined routes Performance requirements, system requirements and performance test procedures Systemes de transport intelligents -Systemes de conduite automatiseeabasse vitesse pour des itineraires predefinis (LSAD)- Exigences de performance, exigences du systeme et procedures de test de performance Reference number IS0 22737:2021(E) ISO ISO2021 IS0 22737:2021(E) COPYRIGHTPROTECTEDDOCUMENT IS02021 All rights reserved. Unless otherwise specified, or required in the context of its implementation, no part of this publication may be reproduced or utilized otherwise in any form or by any means, electronic or mechanical, including photocopying, or posting below or Iso's memberbody in the country ofthe requester. ISO copyright office CP 40i : Ch.de Blandonnet 8 CH-1214 Vernier, Geneva Phone: +41 22.749 01 11 Email: copyright@iso.org Website: www.iso.org Published in Switzerland ii @ IS0 2021 - All rights reserved IS022737:2021(E) Contents Page Foreword ..V Introduction. ..vi 1 Scope. 2 Normative references 3 Terms and definitions 4 Symbols and abbreviated terms. ..3. 5 ExampleusecaseforanLSADsystemdeployment ..5 6 LSAD system architecture 7 Basic requirements .6 7.1 General. ..6 7.2 Minimum operating capabilities. .7 7.3 Operationaldesign domains (ODDs) .7 7.4 .7 LSAD state transition diagram. 7.4.1 LSAD statefunctional descriptions. .8 7.4.2 LSAD statetransition description: .9 7.4.3 Possibleextension ofthe LSADstatediagramtoaccommodatedispatcher .11 inputs. 7.5 Communication requirements .11 8 Functional requirements. ..12 8.1 Determination of hazardous situation .12 8.1.1 General. .12 8.1.2 Non-occluded view .12 8.1.3 Occluded view. .13 8.2 Minimal risk manoeuvre (MRM) .14 8.3 Driving in the drivable area .15 8.4 Emergencystop (e-stop) .15 9 PerformancerequirementsfortheLSADsystem .16 9.1 ..16 9.2 Obstacledetectionrequirements .16 9.2.1 ..16 9.2.2 .16 9.2.3 LSAD system deceleration ..16 ..16 10 Systemrequirements. 10.1 Recording data about a safety-critical event. ..16 11 Performance test procedures .17 11.1 General ..17 11.2 Environmental parameters .17 11.3 Hazardous situation. .18 11.3.1 Pedestrian as an obstacle .18 11.3.2 Pedal cyclist as an obstacle 20 11.3.3 Hazardous situation turning around a corner .23 11.3.4 False positive tests. .24 11.4 Drivable area test .26 11.4.1 Test setup .26 11.4.2 Vehicle parameters. 27 11.4.3 Evaluation path parameters .27 11.4.4 Environmental parameters 27 Pass criteriaforunblockeddrivablearea .27 11.4.5 11.4.6 Pass criteria for blocked drivable area. .28 11.5 Minimal risk manoeuvre (MRM) test. .28 @ IS0 2021-All rights reserved ili