1.1 本规程描述了一种在测试时记录自动、自动或自主-无人地面车辆（a-UGV）配置的方法。该实践提供了一种记录a-UGV硬件和软件控制参数的方法，并描述了高级功能，例如用于a-UGV安全和导航。 1.2 这种做法:在测试过程中对A-UGV配置进行情境化，包括识别和调整主要配置参数；为测试结果提供适当的上下文；为不同车辆或试验或两者的试验环境的比较提供了基础；并且允许重新创建测试。 1.3 以国际单位制表示的数值应视为标准。括号中给出的值不是精确的数学转换为英制单位。在保持试验方法结果的重复性和再现性的同时，它们是规定A-UGV特性的近似等效物。括号中给出的这些值仅供参考，不被视为标准值。 1.4 本标准并不旨在解决与其使用相关的所有安全问题（如有）。本标准的使用者有责任在使用前制定适当的安全、健康和环境实践，并确定监管限制的适用性。 1.5 本国际标准是根据世界贸易组织技术性贸易壁垒委员会发布的《关于制定国际标准、指南和建议的原则的决定》中确立的国际公认的标准化原则制定的。 ====意义和用途====== 5.1 测试报告中记录的信息的重要性允许将a-UGV性能与a-UGV配置结合起来。 5.2 实践的局限性在于并非所有A-UGV都具有相同的能力或配置参数。例如，就功能而言，在导航过程中重新映射的车辆与使用静态地图的另一车辆在避障测试的重复运行中可能表现不同。 对于配置，在导航过程中重新映射的车辆可能具有不同的障碍物保留在地图中的时间，以进行测试娱乐。 5.3 A-UGV使用的环境地图，通过定位开发，包括任何地标，应保存为A-UGV上使用的环境图，并应保存为人类可读的A-UGV内外布局（见 附录X1 示出了示例布局图）。 5.4 A-UGV的主要硬件参数应记录如下: 5.4.1 品牌和型号； 5.4.2 零件编号； 5.4.3 序列号； 5.4.4 硬件版本号（如有）； 5.4.5 驱动/转向轮的数量； 5.4.6 转向类型； 5.4.7 A- UGV类型——例如，叉车、牵引车、单元负载、推车；和 5.4.8 加载/卸载。 5.5 主要A-UGV软件参数应记录如下: 5.5.1 所有适用的软件和固件版本； 5.5.2 Velocity-- 平移和旋转，最小/最大； 5.5.3 加速度-- 平移和旋转，最小/最大；和 5.5.4 对峙距离-- 安全传感器阈值、避障阈值。 5.6 应通过提供以下问题的详细答案来记录测试的背景: 5.6.1 测试期间何时使用各种软件配置？例如，可能需要两个软件版本，如下所示: 配置A用于直通道，配置B用于转弯。 5.6.2 重新创建A-UGV行为需要哪些其他硬件和软件参数/设置（即附加的调试、设置或其他文件）？ 5.6.3 在车辆上保存和使用的A-UGV布局是什么？如果可能，保存并提供为人类可读版本？ 5.6.4 请求者是否对A-UGV施加了限制？示例可能包括以下内容: 5.6.4.1 通用测试环境-- 例如，室外还是室内，白天还是晚上，定义的还是未定义的测试区域？ 5.6.4.2 速度和加速度低于最大能力？ 5.6.4.3 避障机动过程中A-UGV与障碍物之间的间隙？ 5.6.4.4 是否启用负障碍物测量功能？ 5.6.4.5 选择自己的路径还是需要使用首选路径？ 5.7 A-UGV能力的更高级别类别应记录如下: 5.7.1 本地化方法-- 例如，自然特征、反射标记、地面胶带、矩阵条形码/视觉基准系统、天花板上的灯。 5.7.2 安全额定设备-- 例如，扫描激光器及其品牌和型号；安全传感器的其他功能。 5.7.3 使用的其他传感器-- 例如，相机，包括其品牌和型号，以及用于路径规划的图像处理软件。 5.7.4 增加了A-UGV测试设备-- 例如，相机，包括其品牌和型号，以及用于捕捉对接性能的图像处理软件。

1.1 This practice describes a means to record the Automatic, Automated, or Autonomous – Uncrewed Ground Vehicle (A-UGV) configuration when testing. The practice provides a method for recording A-UGV hardware and software control parameters and describes high-level capabilities, such as used for A-UGV safety and navigation. 1.2 This practice: contextualizes the A-UGV configuration during a test, including the identification and adjustment of main configuration parameters; provides the proper context for test results; provides a basis for comparison of the test circumstances across different vehicles or tests, or both; and allows a test to be recreated. 1.3 The values stated in SI units are to be regarded as the standard. The values given in parentheses are not precise mathematical conversions to imperial units. They are close approximate equivalents for the purpose of specifying A-UGV characteristics while maintaining repeatability and reproducibility of the test method results. These values given in parentheses are provided for information only and are not considered standard. 1.4 This standard does not purport to address all of the safety concerns, if any, associated with its use. It is the responsibility of the user of this standard to establish appropriate safety, health, and environmental practices and determine the applicability of regulatory limitations prior to use. 1.5 This international standard was developed in accordance with internationally recognized principles on standardization established in the Decision on Principles for the Development of International Standards, Guides and Recommendations issued by the World Trade Organization Technical Barriers to Trade (TBT) Committee. ====== Significance And Use ====== 5.1 The significance of the information to be recorded in a test report allows for A-UGV performance to be contextualized with A-UGV configuration. 5.2 Limitations of the practice are that not all A-UGVs have the same capabilities or configuration parameters. For example, for capabilities, a vehicle that remaps during navigation versus another vehicle that uses a static map may behave differently in repeated runs of an obstacle avoidance test. For configuration, a vehicle that remaps during navigation may have varying times that obstacles remain in the map for test recreation. 5.3 The environment map used by the A-UGV, developed through localization including any landmarks, shall be saved as used on the A-UGV and should be saved and provided as a human-readable layout on or off the A-UGV (see Appendix X1 showing a sample layout drawing). 5.4 The main A-UGV hardware parameters shall be recorded as follows: 5.4.1 Make and model; 5.4.2 Part number; 5.4.3 Serial number; 5.4.4 Hardware revision number (if any); 5.4.5 Number of drive/steer wheels; 5.4.6 Steering type; 5.4.7 A-UGV Type—For example, fork, tugger, unit load, cart; and 5.4.8 Loaded/unloaded. 5.5 The main A-UGV software parameters shall be recorded as follows: 5.5.1 All applicable software and firmware versions; 5.5.2 Velocity— Translation and rotation, minimum/maximum; 5.5.3 Acceleration— Translation and rotation, minimum/maximum; and 5.5.4 Stand-off Distances— Safety sensor thresholds, obstacle avoidance thresholds. 5.6 The context for the test shall be recorded by providing detailed answers to the following questions: 5.6.1 When are the various software configurations used during the test? For example, two software versions may be required as follows: Use configuration A for straight aisles and configuration B for turns. 5.6.2 What other hardware and software parameters/settings are required to recreate the A-UGV behavior (that is, attached debug, settings, or other files)? 5.6.3 What is the A-UGV layout that is saved and used on the vehicle and, if possible, saved and provided as a human-readable version? 5.6.4 Are there constraints that the requestor has placed on the A-UGV? Examples may include the following: 5.6.4.1 Generic Test Environment— For example, outdoors or indoors, day or night, defined or undefined test areas? 5.6.4.2 Velocity and acceleration that are below the maximum capability? 5.6.4.3 Clearances between the A-UGV and an obstacle during obstacle avoidance maneuvering? 5.6.4.4 Negative obstacle measurement capability enabled? 5.6.4.5 Choose its own path or is required to use a preferred path? 5.7 Higher-level categories of A-UGV capabilities shall be recorded as follows: 5.7.1 Localization Method— For example, natural features, reflective markers, tape on ground, matrix barcodes/visual fiducial system, lights in ceiling. 5.7.2 Safety-rated Equipment— For example, scanning lasers and their make and model numbers; other functions of safety sensors. 5.7.3 Other Sensors Used— For example, cameras, including their make and model numbers, and image processing software used for path planning. 5.7.4 Added Equipment for A-UGV Testing— For example, cameras, including their make and model numbers, and image processing software used for capturing docking performance.