Document ID: chunk:federal_register_of_legislation:F2017L01229:body:0:p21
Version: federal_register_of_legislation:F2017L01229
Segment Type: other
Provision Reference: 
Character Range: 56021–58932

the respective approvals were given, Regulation No. 140 was in its original form and Regulation No. 24 included the 02 series of amendments.

Annex 3

  Use of the dynamic stability simulation
 The effectiveness of the electronic stability control system may be determined by computer simulation.
1. Use of the simulation
1.1. The vehicle stability function shall be demonstrated by the vehicle manufacturer to the Type Approval Authority or Technical Service by simulating the dynamic manoeuvres of paragraph 9.9. of this Regulation.
1.2. The simulation shall be a means whereby the vehicle stability performance shall be demonstrated with:
(a) The yaw rate, one second after completion of the Sine with Dwell steering input (time T0 + 1);
(b) The yaw rate, 1.75 seconds after completion of the Sine with Dwell steering input;
(c) The lateral displacement of the vehicle centre of gravity with respect to its initial straight path.
1.3. The simulation shall be carried out with a validated modelling and simulation tool and using the dynamic manoeuvres of paragraph 9.9. of this Regulation under the test conditions of paragraph 8. of this Regulation.
 The method by which the simulation tool is validated is given in Annex 4 to this Regulation.
Annex 4
  Dynamic stability simulation tool and its validation
1. Specification of the simulation tool
1.1. The simulation method shall take into account the main factors which influence the directional and roll motion of the vehicle. A typical model may include the following vehicle parameters in an explicit or implicit form:
(a) Axle/wheel;
(b) Suspension;
(c) Tyre;
(d) Chassis/vehicle body;
(e) Power train/driveline, if applicable;
(f) Brake system;
(g) Pay load.
1.2. The Vehicle Stability Function shall be added to the simulation model by means of:
(a) A subsystem (software model) of the simulation tool; or
(b) The electronic control box in a hardware-in-the-loop configuration.
2. Validation of the simulation tool
2.1. The validity of the applied modelling and simulation tool shall be verified by means of comparisons with practical vehicle tests. The tests utilised for the validation shall be the dynamic manoeuvres of paragraph 9.9. of this Regulation.
 During the tests, the following motion variables, as appropriate, shall be recorded or calculated in accordance with ISO 15037 Part 1:2005: General conditions for passenger cars or Part 2:2002: General conditions for heavy vehicles and buses (depending on the vehicle category):
(a) Steering-wheel angle (H);
(b) Longitudinal velocity (vX);
(c) Sideslip angle () or lateral velocity (vY);(optional);
(d) Longitudinal acceleration (aX); (optional);
(e) Lateral acceleration (aY);
(f) Yaw velocity (d/dt);
(g) Roll velocity (d/dt);
(h) Pitch velocity (d/dt);
(i) Roll angle ();
(j) Pitch angle ().
2.2. The objective is to show that the simulated vehicle behaviour and operation of the