Document ID: chunk:federal_register_of_legislation:F2023L01321:reg:30:p3
Version: federal_register_of_legislation:F2023L01321
Segment Type: reg
Provision Reference: reg 30 (pt 3/6)
Character Range: 62385–65284

equipment consists of a means to influence the vehicle movement, such as a driving robot system or a driving system that utilizes access to the vehicle's actuators, a robot-controlled platform for the bicycle dummy, and position measurement systems using a fusion of differential global navigation satellite systems and an inertial measurement unit. Note that the other requirements of paragraph 5.3.1.4., especially false positives and first point of information (FPI), still need to be checked with the test procedure as specified in paragraph 6.5 and its subparagraphs.

       1. Test procedure

           1.1. Verify that the vehicle and the test track are in the condition as required per section 6 and its subparagraphs.

           1.2. Equip the vehicle with the following equipment:

           1.2.1. A position measurement system, able to measure the vehicle position with an accuracy of 5 cm, such as a differential global navigation satellite system (GNSS) and inertial measurement unit fusion system, sampling at no less than 100 Hz.

           1.2.2. A driving system that is able to modulate the direction, deceleration and acceleration of the vehicle under test in order to follow recorded trajectories with an accuracy of 50 cm when comparing recorded and replayed trajectory over time.

            If the driving system does not allow a sufficient manual control, it may be absent during the recording of the trajectory as defined in paragraph 1.3. below.

           1.2.3. A system to detect the information and warning signals after their activation with a time delay of not more than 25 ms.

           1.3. Drive manually and record vehicle position over time for all relevant envelopes described in Appendix 1 for the vehicle under test. Modulate the speed as necessary during the turn while staying in the performance requirements as specified in section 5.3.1. (e.g. up to 30 km/h vehicle speed). The initial speed as specified in Appendix 1 should be maintained until passing a line corresponding to x=-30 in the coordinate system as specified in Appendix 1.

            The vehicle shall be driven in such a way that the vehicle front is inside the dedicated points given for the respective envelopes in Appendix 1 at all times. This shall be verified with the measured data.

            A marking of the positions using markers is permitted but not necessary.

            If deemed justified by the technical service, any other trajectories that would be driven with the given vehicle to negotiate 90° turns may be tested as well.

           1.4. Drive the tests according to the table in appendix 1, using the driving system and the trajectories as recorded while performing paragraph 1.4. of this annex, ensuring the bicycle dummy robot is synchronized to impact the vehicle under test at the respective impact position (the front right corner (-0, +0.5 m) or