The proposed text combines the proposed changes in GRVA/2020/8 (proposal for a maximum time of 15 seconds for a lane change) with the adopted changes in GRVA/2019/24.

Proposal combining the proposed changes of GRVA/2020/9 with the previously adopted changes in GRVA/2019/24.

Proposal to clarify conditions for automatic deactivation of the direction indicator pursuant to a lane change maneuver.

Amendments to refine the proposal to increase maximum lateral acceleration limit values up to 4 m/s² for speeds up to 80 km/h for M1/[N1] category vehicles, provided there is no heavy rain and ambient air temperatures are above 4°C. The proposal sets the speed at 60 kph while specifying a linear reduction of lateral acceleration to a maximum 3 m/s² at 80 kph.

ACSF systems in use were brought to market based on exemption approvals in the EU. These systems show a good and safe performance. Approvals according to UN R79/03 would force modifications to currently used systems without any apparent safety benefit. The current formula for the calculation of s_critical does not take the dynamic behaviour of the vehicles into account, therefore requires gaps that under some traffic conditions don’t usually occur. Since there are different ways of addressing the dynamic behaviour of the vehicles with regard to the original formula, this proposal would allow the manufacturer to specify its own formula provided the safety principle is maintained.

Proposal to allow ACSF-B lateral acceleration above the maximum limit value in cases where the lane position cannot be maintained by the vehicle (for example, on a tightening curve).

Proposal to increase maximum lateral acceleration limit values up to 4m/s² for speeds up to 80 km/h for M1/[N1] category vehicles, provided there is no heavy rain and ambient air temperatures are above 4°C.

Proposal for a maximum time of up to 15 seconds for an Automatically Commanded Steering Function (ACSF) of Category C to start a lane change.

Proposal to stipulate that “Automatic deactivation by the system of the direction indicator is required only if the lane change manoeuvre is initiated automatically, or if the direction indicator control is not fully engaged (latched position) during the lane change manoeuvre.”

Proposal to allow a corrective steering function to use haptic signals as an alternative to acoustic signals for M₂ and M₃ vehicles equipped with Lane Departure Warning System compliant with UN R130. The proposal would specify that the haptic warning may not be given solely via the steering wheel (e.g., provided in the driver’s seat).

Proposal for provisions concerning:

• B1 lane centering
• ACSF activation conditions
• Driver override
• Clarification of ACSF standby-mode
• Clarification of “ready-to-intervene"
• Indication to the driver in case of suppression
• Clarification of suppression criteria
• Sensor test before activation.

Since an Automatically Commanded Steering Function (ACSF) of Category B is required to demonstrate compliance with regard to the warning cascade under testing at low speed, it is proposed to stop the high-speed test after the system has given the optical warning, meaning it has correctly detected the hands to be off the steering wheel.

Proposal to allow a corrective steering function to use haptic signals as an alternative to acoustic signals for M₂ and M₃ vehicles equipped with Lane Departure Warning System compliant with UN R130. The proposal would specify that the haptic warning may not be given solely via the steering wheel (e.g., provided in the driver’s seat).

The proposal to clarify that enabling the system under the test procedure is only necessary in cases where the system is not already in the enabled state.

Presentation on the safety benefit of automated emergency steering in case of confirmed driver inability to perform the driving task.

Proposal to allow a corrective steering function to use haptic signals as an alternative to acoustic signals for M₂ and M₃ vehicles equipped with Lane Departure Warning System compliant with UN R130. The proposal would specify that the haptic warning may not be given solely via the steering wheel (e.g., provided in the driver’s seat).