Document ID: chunk:federal_register_of_legislation:F2023L01321:reg:30:p4
Version: federal_register_of_legislation:F2023L01321
Segment Type: reg
Provision Reference: reg 30 (pt 4/6)
Character Range: 65034–67893

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 a position 6 m (+0, -0.5 m) behind the front right corner of the vehicle) and is travelling on the respective y coordinate.

            It may be necessary and shall be allowed to synchronize the dummy robot against a replay of the vehicle under test (VUT) trajectories (with full driving system control over speed and steering) rather than against the originally recorded trajectory while driving manually.

            The dummy speed shall be at the respective speed with a tolerance of +- 2 km/h at all times. The dummy robot starting position should be X=-65m. The acceleration of the dummy shall be such that the dummy shall have reached the speed for the actual test case, as shown in Table 1 in Appendix 1 to this Annex, after a distance of not more than 5.66 m and after the acceleration the dummy shall move within the specified tolerance of +- 2 km/h. The vehicle shall start to move sufficiently before dummy start to allow this dummy starting position.

            If the correct collision position for each VUT trajectory has been verified with a test run without a dummy on the carrier platform and repeatability of the test setup has been verified as well, the test may be aborted after detection of the information signal.

           1.5. Calculate the stopping distance with respect to passing the bicycle trajectory for each individual trajectory and each available sampling point, taking into account a possible vehicle deceleration of 5 m/s² and a reaction time of 1.4 seconds.

            The calculation may be performed in the following manner:

            Calculate the required braking distance dbrake for each data point on the trajectory, using the following equation:

           using the momentaneous vehicle speed v(t) in m/s.

            The distance of the VUT front right corner on its path to the bicycle line of movement shall be dBicycletrajecrory(t).

            The position of the last point of information then is given by the first time where the following condition applies:

           1.6. The test procedure is considered to be passed, and consequently the vehicle is deemed to have fulfilled paragraphs 6.5.6., 6.5.7. and 6.5.10., if the information signal is given at a distance (on the path coordinate of the individual trajectories) greater than the stopping distance (on the path coordinate of the individual trajectories) as calculated in paragraph 1.5. above for all required test runs conducted according to paragraph 1.4. above.

           1.7. All measurement data (in the form of plots) and all calculations done in paragraph 1.5. shall be