Proposal with the amendments to UN R171 presented in the consolidated version in GRVA/2026/15. Modifications include: inserting new introduction paragraph 17 establishing the regulation on current technology with continuous review based on data; amending paragraphs on system boundaries, driver disengagement detection, manoeuvre initiation, and Risk Mitigation Function; clarifying driver state monitoring and visual engagement assessment; updating terminology for powertrain; deleting duplicate definitions; adding processes for safety management during operation phase; inserting definition of “Evidence”; clarifying base and extended test requirements; and updating language from “cyclist” to “bicycle” in test scenarios.