ISO/TR 21934-1:2021

TECHNICAL ISO/TR
REPORT 21934-1
First edition
2021-06
Road vehicles — Prospective safety
performance assessment of pre-crash
technology by virtual simulation —
Part 1:
State-of-the-art and general method
overview
Véhicules routiers — Evaluation prospective de la performance
sécuritaire des systèmes de pré-accident par simulation numérique —
Partie 1: Etat de l’art et aperçu des méthodes générales
Reference number
©
ISO 2021
© ISO 2021
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ii © ISO 2021 – All rights reserved

Contents Page
Foreword .iv
Introduction .v
1 Scope . 1
2 Normative references . 1
3 Terms and definitions . 1
4 Symbols and abbreviated terms . 3
4.1 Symbols . 3
4.2 Abbreviated terms . 3
5 Evaluation objective and baseline of assessment . 4
5.1 Definition of the evaluation objective . 4
5.2 Establishment of baseline . 6
6 Input data . 7
6.1 General . 7
6.2 Active safety technology related data. 8
6.3 Accident data . 9
6.4 Data from naturalistic driving studies and field operation test.10
6.5 Infrastructure and traffic data .11
6.6 Data from tests in controlled environments.11
7 Implementation of virtual simulation .11
7.1 General .11
7.2 Simulation framework .11
7.3 Simulation tool .12
7.4 Simulation models .12
7.4.1 Vehicle model .12
7.4.2 Safety technology model .13
7.4.3 Environment model . . .14
7.4.4 Traffic situation model.14
7.4.5 Traffic model .15
7.4.6 Driver model .16
7.4.7 Collision model .16
7.5 Simulation control.17
8 Estimating safety technology safety performance .18
9 Validation and verification .20
10 Practical experience .23
10.1 General .23
10.2 Establishment of baseline .23
10.3 Simulation framework .24
10.4 Comparative study of different simulation tools .24
10.5 Estimating the safety performance .25
10.6 Validation and verification .25
11 Conclusions and limitations .25
12 Outlook .27
12.1 General .27
12.2 Automated driving .27
12.3 V2X technologies .28
Annex A (informative) List of tools .30
Annex B (informative) Input and output of simulation models .31
Bibliography .36
Foreword
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different types of ISO documents should be noted. This document was drafted in accordance with the
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iso/ foreword .html.
This document was prepared by Technical Committee ISO/TC 22 Road vehicles, Subcommittee SC 36
Safety and impact testing.
A list of all parts in the ISO 21934 series can be found on the ISO website.
Any feedback or questions on this document should be directed to the user’s national standards body. A
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iv © ISO 2021 – All rights reserved

Introduction
Different Active Safety and Advanced Driver Assistance Systems (ADAS), in the following both referred
to as active safety technology, have been developed and introduced into the market. The question that
goes along with the development and introduction is, what impact these technologies have on road
traffic and more specifically, to what extent these technologies prevent crashes and injuries. Such
questions are of relevance for different stakeholders, such as vehicle manufacturers and suppliers, road
authorities, research organisations and academia, politics, insurance companies as well as consumer
[1]
organisations.
The answers to these questions are derived from assessment of such technologies in terms of road
traffic safety. Different assessment methodologies have been developed in the past and are being
[2]
used today. In general, the utilized methodologies can be divided in two types of assessment. The
first type determines the technology’s safety effect after its market introduction. Typically, in this
assessment type accident statistics are analysed in order to determine the difference between the
[1]
accident situation with the technology compared to a control group without the technology. These
methods are called retrospective assessment methods. A precondition for these methods is that the
technology under assessment has reached a sufficient penetration rate in the market and that sufficient
accident cases with and without the technology are recorded for a comparison. The penetration rate
does not necessarily need to be related to the whole vehicle fleet, but can also be related to a certain
[3]–[5]
vehicle subgroup or class. On the other hand, there are methods that predict the technology's
[6][7]
effect on traffic in relation to traffic safety before its m
...