ISO INTERNATIONAL STANDARD 23374-1 First edition 2023-07 Intelligent transport systems - Automated valet parking systems (AVPS) Part 1: System framework, requirements for automated driving and for communications interface Systemes de transport intelligents - Systemes de parking avec voiturier automatisé (AVPS) - Partie 1: Cadre du systeme, exigences relatives a la conduite automatisée et a I'interface de communication Reference number IS0 23374-1:2023(E) iso IS02023 IS0 23374-1:2023(E) COPYRIGHT PROTECTED DOCUMENT @IS02023 All rights reserved. Unless otherwise specified, or required in the context of its implementation, no part of this publication may be reproduced or utilized otherwise in any form or by any means, electronic or mechanical, including photocopying, or posting on or IsoO's member body in the country of the requester. 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 23374-1:2023(E) @ Contents Page Foreword. vi Introduction. .vii 1 Scope. .1 2 Normative references .1 3 Terms and definitions .2 4 Symbols and abbreviated terms. .6 4.1 Symbols. .6 4.2 Abbreviated terms.. .1 4.2.1Terms defined in ISO/SAE PAS 22736 7 Terms relating to names of system and sub-systems .1 4.2.2 4.2.3 Otherterms. .7 5 System framework .8 5.1 System description .8 5.1.1 Basic functionalities. .8 5.1.2 Basicflow .8 5.2 System configuration. 10 5.2.1 Sub-systems. 10 5.2.2 System architecture 10 5.2.3 Interface. 10 5.3 Functional allocation. 11 5.4 Classification 12 5.4.1 Vehicle operation types. 12 5.4.2 Traffic environment categories. 13 5.5 Human interaction. .13 5.5.1 General .13 5.5.2 Service provider. 14 5.5.3 System operator. 14 5.5.4 Facility manager 14 6 Requirements for automated vehicle operation functions .14 6.1 General. 14 6.1.1 Principles for performing automated vehicle operation 14 6.1.2 Relationship of the operation functions. 15 6.1.3 Operational design domain. 15 6.2 Requirements for DDT 16 6.2.1 General 16 6.2.2 Basic performance requirements. 16 6.2.3 Additional requirements for operation under a mixed traffic environment 17 6.3 Requirements for emergency stopping. 18 6.3.1 General 18 6.3.2 DDT fallback[1] 19 6.3.3 Response to operation stop commands 19 6.3.4 Detection of human activities. 19 6.4 Requirements for destination assignment 19 6.4.1 General requirements. 19 6.4.2 Type 1 systems. 20 6.4.3 Type 2 and 3 systems. 20 6.5 Requirements for route planning 20 6.6 Requirements for localization accuracy 20 6.6.1 Accuracy requirement relative to the digital map 20 6.6.2 Accuracy requirement of the end position relative to the destination. .21 6.7 Requirements for human activity recognition. 21 7 Requirements for management functions. 21 @ IS0 2023 - All rights reserved iii IS0 23374-1:2023(E) 7.1 Functions that influence the automated vehicle operation. 21 7.1.1 General 21 7.1.2 Remote engagement 21 7.1.3 Operation stop. 21 7.1.4 Remote assistance. 22 7.1.5 Remote disengagement 22 7.1.6 Central control 22 7.2 Other management functions. 22 7.2.1 Compatibility and occupancy check 22 7.2.2 SV identification 23 7.2.3 Response to incapacitation ofthe operation functions 23 7.2.4 Maintaining environmental conditions 23 8 Requirements for the environment within parking facilities .24 8.1 General. 24 8.2 Common requirements 24 8.2.1 Operation zone.. 24 8.2.2 Drop-off and pick-up area 24 8.2.3 SV identification area 24 8.2.4 Wireless communication. 24 8.2.5 Operation stop device.. 25 8.2.6 Lighting 25 8.3 Vehicle-operation-type-dependent requirements 26 8.3.1 Detection capabilities of the R sub-system. 26 8.3.2 Localization markers... 26 8.3.3 Digital maps. 27 8.4 Traffic environment category dependent requirements 29 8.4.1 Mixedtraffic, 29 8.4.2 Exclusive traffic 29 9 Requirements for overall system operation 29 9.1 General. 29 9.2 Requirements for the communication inte