Proposal to introduce provisions for a “two-step Human Machine Interface” in the requirements for Automatically Commanded Steering Functions (ACSF) of Category C lane-change functions.

Discussion of lateral acceleration values for Automatically Commanded Steering Functions (ACSF) of Category B1 (e.g., SAE L2 lane-keeping) and proposal to allow the vehicle under test to change speeds in order to meet maximum lateral acceleration values when navigating curves.

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.

Proposal to stipulate that “Automatic deactivation by the system of the direction indicator is required only if the lane change manoeuvre is initiated automatically, and if the direction indicator control is not fully engaged (latched position) during the lane change manoeuvre.” The proposal also would modify the high-speed test to end once the system has given an optical “hands-off” warning since the entire warning cascade is checked during the low-speed test. For M₂ and M₃ vehicles, the amendment allows a corrective steering function to use haptic signals as an alternative to acoustic signals for these categories of vehicles that are equipped with Lane Departure Warning System compliant with UN R130. This change would specify that the haptic warning may not be given solely via the steering wheel (e.g., provided in the driver’s seat).