TECHNICAL ISO/TS 22133 SPECIFICATION First edition 2023-03 Road vehicles Test object monitoring and control for active safety and automated/autonomous vehicle testing Functional requirements, specifications and communication protocol Vehicules routiers - Surveillance et controle des objets de test pour I'évaluation de la sécurité active et des véhicules automatisés/ autonomes - Exigences fonctionnelles, caractéristiques et protocole de communication Referencenumber IS0/TS22133:2023(E) @ IS0 2023 IS0/TS 22133:2023(E) COPYRIGHT PROTECTED DOCUMENT @ ISO 2023 All rights reserved. Unless otherwise specified, or required in the context of its implementation, no part of this publication may the internet or an intranet, without prior written permission. Permission can be requested from either ISO at the address below or Iso's member body in the country of therequester. ISO copyright office CP 401 · Ch. de Blandonnet 8 CH-1214 Vernier, Geneva Phone: +41 22 749 01 11 Email: [email protected] Website: www.iso.org Published in Switzerland ii @ IS0 2023 - All rights reserved IS0/TS 22133:2023(E) Contents Introduction ... ..vii Scope.. 1 Normative references ... 2 Terms and definitions ... 3 Abbreviated terms.... 4 5 Test scenario illustration General requirements and recommendations ... 6 6 6.1 Function overview.. 6 6.2.1 Vehicle.. 6.2.2 Moveable test objects otherthan vehicle ... 6.3 Test scenario coordinate system.... 6.3.1 Background info: tectonic/continental plate drift.. 9 6.3.2 Coordinate system - Tests on proving ground. 6.3.3 Coordinate system - Test on other test areas ... 10 6.4 Time requirements.... 10 6.4.1 General time requirements ... ..10 6.4.2 6.4.3 Absolute time ... .10 Relative time.... 6.4.4 ..11 6.4.5 Time resolution .... Time accuracy (and precision) 6.4.6 11 Time synchronization.. 6.4.7 ..11 Date synchronization..... 6.4.8 6.4.9 Network delay.... .12 6.5 Communication requirements and permissions.. .13 Safety and risk assessment requirements and recommendations. .14 7.1 General.. ..14 7.2.1 Common requirements and recommendations ... .15 7.2.2 Global geofence... ..15 7.2.3 Local test object fence. Communication security requirements .. 8 9 Architecture and interfaces. 9.1 General.... 9.2.1 General... .18 9.2.2 Test objects state diagram .. ..18 9.2.3 9.2.4 Control centre state diagram.... .20 9.2.5 Control centre state change triggers . ..21 ..3 Communication setup..... 9.3.1 General .... .22 9.3.2 Test object discovery ... ..22 9.3.3 TCP communication setup (control channel) 9.3.4 UDP communication setup (process channel) .23 9.3.5 File transfer protocol (FTP) .. .4 Control functionalities..... @ IS0 2023 - All rights reserved ii IS0/TS 22133:2023(E) .25 Automated and non-automated drive. 9.4.2 Remote-control manoeuvring .... .26 iol.1'rajectory and scenario-based testing ... .28 10.1 Introduction to trajectory andscenario-based testing .. ..28 10.2 10.3 Dynamic trajectories.. .28 10.4 Scenario-description languages... ..29 11 Functional requirements.. .29 Device interface description XML (DIDX) . 11.1 ..29 11.2 .Control centre requirements and recommendations....... 11.3 Stationary test object requirements . .30 Moveable test object requirementsand recommendations ... 11.4 ..30 11.5 11.5.1 Arm and disarm test object .31 11. Start test..... ..32 11.3 Emergency stop of test scenario (initiated by the CC).... 11.5.4 Emergency stop of test scenario (upon request from test object) .34 11.5.5 Normal stop oftest scenario .. ..35 11.5.7 Cyclic monitor and heartbeat... .36 11.5.8 Adaptive synchronization point.. ..36 11.5.9 Remote-control manoeuvring .. Trigger and action.. 11.5.10 .40 .41 General ... 12.1 ..41 Message... 12.2 ..42 12.2.1 Message structure. 12.2.2 Sequential byte order .42 12.2.3 Message header... ..43 12.2.5 Message footer.... ..45 12.2.6 Protocol tunnel.. ..45 12.2.7 Vendor-specific messages .. 12.3 Collective message overview.. ..46 12.3.1 Trajectory object message - TRAJ (MsgID 0x0001)