ISO 23376:2021

INTERNATIONAL ISO
STANDARD 23376
First edition
2021-12
Intelligent transport systems —
Vehicle-to-vehicle intersection
collision warning systems (VVICW) —
Performance requirements and test
procedures
Systèmes de transport intelligents — Systèmes d'alerte de collision
aux intersections de véhicule-à-véhicule (VVICW) — Exigences de
performance et procédures d'essai
Reference number
© ISO 2021
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ii
Contents Page
Foreword .iv
Introduction .v
1 Scope . 1
2 Normative references . 1
3 Terms and definitions . 1
4 Symbols and abbreviated terms.3
5 Requirements . 4
5.1 Minimum enable conditions . 4
5.2 Minimum required VVICW scenarios . 4
5.3 Necessary functions . 5
5.4 State transition diagram . . 6
5.4.1 General . 6
5.4.2 State functional description . 6
6 Warning provisions . 7
6.1 VVICW output . 7
6.2 Warning modality . 7
6.3 Warning criteria for crossing scenarios . 8
6.3.1 Warning requirements . 8
6.3.2 No warning provisions. 10
6.4 Warning criteria for oncoming scenarios . 11
6.4.1 Warning requirements . 11
6.4.2 No warning requirements . 11
7 V2V data provisions: permissions.12
8 Testing procedures .12
8.1 General .12
8.2 Crossing scenarios . . .12
8.2.1 Warning tests . 12
8.2.2 No warning tests . 14
8.3 Oncoming scenarios .15
8.3.1 Warning tests . 15
8.3.2 No warning tests . 16
Bibliography .18
iii
Foreword
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iv
Introduction
Vehicle-to-vehicle intersection collision warning systems (VVICW) warn the driver to avoid potential
collisions at intersections. The VVICW warns the driver of imminent crashes with other vehicles
crossing at a road junction. The system relies on relative positioning, speed and heading between
vehicles determined using vehicle-to-vehicle (V2V) communication, such as dedicated short-range
communication (DSRC). It is intended to be used to avoid intersection crossing crashes, the most severe
crashes based on fatality counts. Due to limited field of view sensing, on-board sensor systems such as
camera, lidar and radar systems cannot be used efficiently for such systems. Figure 1 illustrates the
functional elements of VVICW.
The VVICW is a road level system that deals with conflict scenarios between vehicles driving on two
connected road segments sharing a common intersection. VVICW positioning requirements are not
demanding compared to those of red light violation warning systems, for example. A comprehensive set
of intersection collision scenarios can be found in Reference [1].
Figure 1 — Vehicle-to-vehicle intersection collision warning systems functional elements
v
INTERNATIONAL STANDARD ISO 23376:2021(E)
Intelligent transport systems — Vehicle-to-vehicle
intersection collision warning systems (VVICW) —
Performance requirements and test procedures
1 Scope
This document specifies performance requirements and test procedures for systems capable of warning
the subject vehicle driver of a potential crossing-path collision with other vehicles at intersecting road
segments.
Vehicle-to-vehicle intersection collision warning systems (VVICW) rely on vehicle-to-vehicle (V2V)
communications and relative positioning between the subject vehicle and crossing-path vehicles
(remote vehicles). V2V data, such as position, speed and heading are used to evaluate if an intersection
collision is imminent between the subject and remote vehicles. The performance requirements laid out
in this document specify the warning criteria for these systems.
In addition, VVICW operate in specified subject and remote vehicle speed ranges, road intersection
geometries and target vehicle types. Moreover, the requirements for the V2V data will be specified.
The scope of this document includes operations on intersecting road segments (physically intersecting
roads), and motor vehicles including cars, trucks, buses and motorcycles. Responsibility for the safe
operation of the vehicle remains with the driver.
2 Normative references
There are no normative references in this document.
3 Terms and definitions
For the purposes of this document, the following terms and definitions apply.
ISO and IEC maintain terminology databases for use in standardization at the following addresses:
— ISO Online browsing platform: available at https:// www .iso .org/ obp
— IEC Electropedia: available at https:// www .electropedia .org/
3.1
subject vehicle
SV
motor vehicle equipped with a VVICW
Note 1 to entry: A subject vehicle can be also a remote vehicle for another subject vehicle.
3.2
subject vehicle speed
subject vehicle velocity in the heading direction
3.3
remote vehicle
RV
motor vehicle equipped at minimum with a V2V transmission device and localization system and that
has the ability to possibly intersect the path of the subject vehicle
3.4
remote vehicle speed
longitudinal component of the remote vehicle velocity in the heading direction
3.5
intersecting road segment
physically intersecting roads that are described based on the number of road segments
Note 1 to entry: A road junction is where two or more road segments intersect.
Note 2 to entry: Roundabout, ramp/highway, street 4-way intersection and street 3-way intersection are
examples of intersection road geometry.
EXAMPLE 1 A four-way intersection, or crossroads, usually involves a crossing of two streets or roads. In
areas where there are rectilinear blocks and in some other cases, the crossing streets or roads are perpendicular
to each other. However, two roads may cross at a different angle. In a few cases, the junction of two road segments
can be offset from each other when reaching an intersection, even though both ends may be considered the same
street.
EXAMPLE 2 A three-way intersection is a junction between three road segments, a T junction where two arms
form one road, or a Y junction. The latter also known as a fork if approached from the stem of the Y.
3.6
time to collision
TTC
time that it takes a subject vehicle to collide with a remote vehicle assuming the relative velocity
remains constant
Note 1 to entry: For the VVICW, TTC is the time needed for the subject vehicle to reach the collision point. TTC is
therefore calculated using Formula (1):
d
c
t =− (1)
c
v
SV
where
t is the time to collision;
c
d is the distance of
...