Document ID: chunk:federal_register_of_legislation:F2021C00477:body:0:p78
Version: federal_register_of_legislation:F2021C00477
Segment Type: other
Provision Reference: 
Character Range: 203910–206671

paragraph 2.1. as appropriate:
4. Simulation results
4.1. Vehicle parameters and the values used in the simulation that are not taken from the actual test vehicle (implicit):
4.2. Yaw stability and lateral displacement according to paragraphs 3.1. to 3.3. of Annex 9:
5. This test has been carried out and the results reported in accordance with Appendix 2 of Annex 9 to Regulation No. 13-H, as last amended by the Supplement 7.
 Technical Service conducting the test[34] .......................
 Signed: …………………….. Date: ..……………………
 Approval Authority1 ……………………………………....…………………..
 Signed: ……………………. Date: …..…………………

Annex 9

Appendix 4

Method for determination of FABS and aABS
1.1. The brake pedal force FABS is the minimum pedal force that has to be applied for a given vehicle in order to achieve maximum deceleration which indicates that ABS is fully cycling. aABS is the deceleration for a given vehicle during ABS deceleration as defined in paragraph 1.7.
1.2. The brake pedal shall be applied slowly (without activating the BAS in the case of category B systems) providing a constant increase of deceleration until ABS is fully cycling (Figure 3).
1.3. The full deceleration must be reached within the timeframe of 2.0 ± 0.5 s. The deceleration curve, recorded against time, must be within a corridor of ± 0.5 s around the centre line of the deceleration curve corridor. The example in Figure 3 has its origin at the time t0 crossing the aABS line 2 seconds. Once full deceleration has been achieved, the brake pedal shall be operated so that the ABS continues fully cycling. The time of full activation of the ABS system is defined as the time when pedal force FABS is achieved. The measurement shall be within the corridor for variation of increase in deceleration (see Figure 3).

       Figure 3
       Deceleration corridor for determination of FABS and aABS

1.4. Five tests meeting the requirements of paragraph 1.3. shall be carried out. For each of these valid tests the vehicle deceleration shall be plotted as a function of the recorded brake pedal force. Only data recorded at speeds above 15 km/h shall be taken for the calculations described in the following paragraphs.
1.5. For the determination of aABS and FABS, a low pass filter of 2 Hz for vehicle deceleration as well as pedal force shall be applied.
1.6. The five individual "deceleration versus brake pedal force" curves are averaged by calculating the mean deceleration of the five individual "deceleration vs. brake pedal force" curves at increments of 1 N pedal force. The result is the mean deceleration versus brake pedal force curve, which will be referred to as the "maF curve" in this appendix.
1.7. The maximum value for the vehicle deceleration is determined from