53. The expert from Germany introduced ECE/TRANS/WP.29/GRRF/2016/45, containing four options as possible ways forward to progress on ACSF. The Secretary of the IWG on Automatically Commanded Steering Function (ACSF) gave a presentation reporting on the progress made by the group (GRRF-82-17). He reported on definitions proposed for ACSF of Categories A to E, clarifications proposed for Corrective Steering Functions (CSF) and new provisions proposed for RCP. GRRF acknowledged the status report received and agreed to work on an amendment to Option 4 as proposed by GRRF-82-12. The proposal for Option 4 received several comments in GRRF-82-08, GRRF-82-09, GRRF-82-14, GRRF-82-15, GRRF-82-18, GRRF-82-19 and GRRF-82-26.