Proposal to clarify the Russian text to improve its alignments with the English version.

Proposal to delete limitations regarding the choice of cryptographic modules.

Proposal submitted by IWG on VMAD for an Appendix to the Annex 4 to address ‘scenarios” pillar especially for the traffic critical scenarios of the new test and assessment methods

Proposal submitted by IWG on ALKS for a draft Annex to address the “audit/assessment/simulation/in use reporting” pillar .

Proposal submitted by the expert from FIGIEFA for amendments to the draft regulations on Cyber Security and Software Updates (GRVA/2020/2, GRVA/2020/3 and GRVA/2020/4) to address concerns regarding service and maintenance and the use of replacement parts.

Text submitted by the experts from EGEA, FIA, FIGIEFA and ETRMA for amendments and modifications to ECE/TRANS/WP29/GRVA/2020/2 & ECE/TRANS/WP29/GRVA/2020/3

Explanatory document submitted by the expert from FIGIEFA to be read in conjunction with the UN Regulation on Cybersecurity (ECE/TRANS/WP.29/GRVA/2020/2). This document describes process flow for national/regional authorities to define objective minimum compliance criteria.

Text submitted by the expert from CLEPA to include state-of-art electro-mechanical braking systems

Text submitted by the expert from Japan proposing an amendment to document GRVA-05-05 from TF CS/OTA

Note from the Secretariat on the evaluation of the 1958 Agreement of whether lifecycle and lifetime provisions could be included in the Agreement

The text submitted by the expert from the Republic of Korea based on the document ECE/TRANS/WP.29/GRVA/2020/12

The text submitted by the expert from France proposes to introduce a representative testing protocol to cover reconditioning or replacement of linings in case of battery recharging

Consolidated text by TF CS/OTA for the proposal of amendments to ECE/TRANS/WP.29/GRVA/2020/4

The amendment proposal by TF CS/OTA to improve the text (ECE/TRANS/WP.29/GRVA/2020/3) with respect to the Approval Authorities and granting of type approvals

The proposed amendments by TF CS/OTA is to improve the existing text (ECE/TRANS/WP.29/GRVA/2020/4 ) and to add clarity for its application.

Proposal to delete the clause “for subject vehicle and target vehicle” and add a reference to paragraph 5.2.1.4. in paragraph 6.10.2.

Including all informal documents received through 7 Feb. 2020 @ 6.00 p.m.

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.

Proposal from France to delete provisions allowing a “cross check” of cybersecurity management certifications among approval authorities in favor of defined requirements for technical services.

Proposal from the GRVA secretariat to align the text of the draft UN Regulation on cybersecurity with the text of Schedule 6 of the 1958 Agreement.

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.

Proposal to define the absence of a Cyber Security Management System certificate (e.g., expiration or withdrawal) as a modification affecting vehicle technical performance (and therefore, the type approval of the vehicle).

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

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 by IWG ALKS for new regulation for the approval of on-highway automated lane keeping systems operating at speeds below 60 kph.

Explanation of the rationale behind proposals for cut-in test procedure proposals.

Proposal to delete the phrase “actively seek guidance” regarding Type Approval Authority consultations, shortening the period during which authorities can express reservations regarding a draft approval from 30 days to 14 days, and clarifications to the text.

Proposal to insert the provision, “This regulation is without prejudice to national or regional regulations dealing with the development and replacement of parts and systems, physical and digital, with regards to ensure their compatibility with cybersecurity.”

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.

Russia-coordinated effort to reconcile divergent views on the concept for type authority review of other type approval authority decisions on cybersecurity management system certification.

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.

Dutch Safety Board report on ADs-equipped vehicle safety performance issues.

Video demonstration of RCP system.

Proposal to introduce provisions for approving single vehicles involved in modular vehicle combinations, e.g. towing trailers, “road trains”.

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 complementary to GRVA/2020/12 to adapt provisions to steering-by-wire and related new technologies with regard to steering angles and system responsiveness.

Proposal by IWG ALKS for new regulation for the approval of on-highway automated lane keeping systems operating at speeds below 60 kph reflecting ongoing discussions and agreed points from the initial review during the fifth GRVA session.

Draft text for a new UN Regulation on the approval of low-speed, on-highway automated lane-keeping systems. This draft will be the basis for discussions at the 6th GRVA session.

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

Summary prepared by the GRVA secretariat of the working party’s activities and programs, including its “top three priorities” for 2021.

Proposal from the AEBS informal group to improve the assessment of AEBS robustness, to delete the clause “for subject vehicle and target vehicle”, and add a reference to paragraph 5.2.1.4. in paragraph 6.10.2.

Draft text for a new UN Regulation on the certification of cybersecurity management systems and the approval of vehicles with regarding to cybersecurity. This draft will be considered during the 6th GRVA session.

Proposal to clarify that the AEBS may be automatically deactivated in the event that the electronic stability control system is deactivated.

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

Proposal for amendments to the proposed draft Annex 4 on audit/CEL to the new UN Regulation on Automated Lane Keeping Systems (ALKS)

This proposal intends to allow the system to have a grace time in order to deal with unexpected changes in the radius of the curvature of the bend, by allowing the system to exceed the imposed ayxsmax limit of 3 m/s² by a maximum of 40% for up to 2 seconds.

This document outlines the UK’s latest proposals to permit a lane change function during a minimum risk manoeuvre or emergency manoeuvre as part of the forthcoming ALKS Regulation.

Proposal from the VMAD informal group secretary for “Special requirements to be applied to the functional and operational safety aspects of Automated Lane Keeping Systems (ALKS)”.

Proposal for an “Appendix on Traffic Disturbance Critical Scenarios to the Annex on audit/assessment to the new UN Regulation on Automated Lane Keeping systems (ALKS)” applying concepts under consideration by the VMAD informal group to establish performance criteria based on “driver model” responses to traffic scenarios.

Proposals to clarify the draft text.

Proposal from the EDR-DSSAD informal group to provide requirements for “data storage systems for automated driving” in the draft automated-lane keeping systems type-approval regulation.

Update on the status of discussions aiming to resolve open items in the draft UN Regulation on cybersecurity following the 5th GRVA session.

Proposal to require vehicle manufacturers to provide relevant cybersecurity information (cybersecurity goals, specifications, requirements) to authorised replacement-part manufacturers.

Proposal to exclude vehicles of categories R, S and T from the initial scope of the draft UN Regulations.

Proposal to clarify provisions regarding

• skills and procedures required of the Approval Authority and its Technical Service(s),
• mandatory peer review of the Approval Authority’s skills, procedures and assessment methods and pass/fail criteria,
• notification of intended type approvals and availability of documentation for inspection,
• minimizing the risk of expiry of the CSMS Certificate before issuance of a new Certificate, and
• exemptions for approvals granted before 1 July 2024.

Proposal to clarify provisions regarding

• skills and procedures required of the Approval Authority and its Technical Service(s),
• mandatory peer review of the Approval Authority’s skills, procedures and assessment methods and pass/fail criteria,
• notification of intended type approvals and availability of documentation for inspection,
• minimizing the risk of expiry of the CSMS Certificate before issuance of a new Certificate, and
• exemptions for approvals granted before 1 July 2024.

Proposals to clarify provisions for collision avoidance in a cut-in scenario, collision avoidance with regard to crossing pedestrians, on “other activities than driving”, and on “permanent visibility” of the means for the driver to activate and deactivate the system.

The proposal replaces the protection of critical elements with the protection of the vehicle type in general to ensure that a critical element can be secured by security mechanisms in other elements of the vehicle type. This clarifies that secure gateways can be used to shield parts of an E/E architecture which contain critical elements. Further, the proposal introduces a transitional period for the obligation to implement the mitigation measures of Annex 5, Part B and C. During this transitional period, the manufacturer can introduce alternative appropriate mitigation measures on the basis of technical feasibility.

Proposal to require the definition of security requirements for the vehicle type.

Proposal for a new UN Regulation as approved by GRVA during its 6th session for the type approval of vehicles with regard to their cybersecurity protection.

Proposal as approved during the 6th GRVA session for a new UN Regulation on approval requirements for low-speed, on-highway automated lane-keeping systems.

Proposal to clarify the provisions in Annex 3, para. 1.5.3.1. in the case where the batteries have been recharged or replaced with a charged set between the hot performance and recovery procedure such that the linings temperature is no longer at the requisite temperature.

Proposal to introduce provisions for recently developed steering systems that have significantly lower steering gear ratios (i.e. quick steering characteristics).

Proposal to introduce provisions for approving single vehicles involved in modular vehicle combinations, e.g. towing trailers, “road trains”.

Proposal to improve the uniformity of requirements for stop lamp illumination with regard to various types of braking systems, including those of electric vehicles.

Proposal to introduce requirements for the type approval of Electro-Mechanical Braking (EMB) systems.

Proposal to introduce requirements for endurance braking systems for vehicles equipped with an electric regenerative endurance braking system.

Proposal to introduce requirements for endurance braking systems for vehicles equipped with an electric regenerative endurance braking system. This proposal is an alternative to the text proposed in document GRVA/2020/37.

Proposal to clarify that the AEBS may be automatically deactivated in the event that the electronic stability control system is deactivated.

Proposal by the experts from the Informal Working Group on Advanced Emergency Braking Systems (AEBS) for vehicles of Categories M₁ and N₁ to introduce provisions for the car-to-bicycle scenario as the first step of a two-step approach. (The IWG has prepared a separate document for the second step of this two-step approach. Alternatively, the IWG has prepared a proposal for a single (all-in-one) approach. GRVA is requested therefore to make a decision on whether car-to-bicycle should be introduced in a single step or in a two-step approach.)

Proposal by the experts from the Informal Working Group on Advanced Emergency Braking Systems (AEBS) for vehicles of Categories M₁ and N₁ to introduce provisions for car-to-bicycle scenario as the second step of a two-step approach. (The IWG has prepared a separate proposal for the first step in this two-step approach. GRVA is therefore requested to make a decision on whether car-to-bicycle should be introduced in a single step or in a two-step approach.)

Proposal by the experts from the Informal Working Group (IWG) on Advanced Emergency Braking Systems (AEBS) for vehicles of Categories M₁ and N₁ to introduce provisions for car-to-bicycle scenario in a single step approach. (Alternatively, the IWG has prepared proposals for a two-step approach to introducing the new requirements. GRVA is therefore requested to make a decision on whether car-to-bicycle should be introduced in a single step or in a two-step approach.)

Proposal by the experts from the Informal Working Group on Advanced Emergency Braking Systems (AEBS) for vehicles of Categories M1 and N1 in order to improve the Appendix 2 Annex 3 for assessing robustness against false reaction, to introduce new provisions for automatic deactivation of AEBS, and to improve the text in other instances.

Proposal to permit the manufacturer to specify its own formula for the calculation of s_critical. The current formula does not take the dynamic behaviour of vehicles into account and 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 amend Annex 8 (Test requirements for Corrective and Automatically Commanded Steering Functions (ACSF)), paragraph 3.5. (Tests for ACSF of Category C) in order to clarify that enabling of the system as part of the test procedure is only necessary when the system is not yet enabled.

Proposal for provisions concerning:

1. B1 lane centering
2. ACSF activation conditions
3. Driver override
4. Clarification of ACSF standby-mode
5. Clarification of “ready-to-intervene"
6. Indication to the driver in case of suppression
7. Clarification of suppression criteria
8. Sensor test before activation.

Proposal to introduce additional requirements for a lane change functionality.

Proposal to amend the ALKS UN Regulation provisions to enable approval of systems operating at speeds up to 130 km/h.

The purpose of this document is to help clarify the requirements of paragraph 7 and Annex 1 of the UN Regulation on uniform provisions concerning the approval of vehicles with regards to software update and software updates management system (ECE/TRANS/WP.29/2020/80) and provide information on what may be used to evidence those requirements.

Proposal from the Informal Working Group on Advanced Emergency Braking Systems (AEBS) for vehicles of Categories M1 and N1 in order to supplement the proposals of document GRVA/2020/27 to improve the text on a number of issues.

Proposal from the Informal Working Group on Advanced Emergency Braking Systems (AEBS) for vehicles of Categories M1 and N1 to supplement the proposals of document GRVA/2020/26 to improve the text on a number of issues.

Proposal to clarify that the Approval Authority should postpone granting a cybersecurity management approval in the absence of agreement on the common interpretation of a provision where the interpretation of the Approval Authority has raised comments from other authorities under the review procedure provided for in paragraph 5.3.4.

Presentation raising concerns over discrepancies and risks of misinterpretation in the application of the regulation by technical services.

Proposal to improve the text with editorial clarifications and restructuring.

Proposal to address risks related to activities other than driving and to clarify that a declaration of a maximum operational speed that exceeds 60 km/h is possible, but not required.

Proposal to permit manoeuvring assistance in defined low speed driving situations to reduce damages and injuries.

This document proposes a new 04 series of amendments to Regulation 79 with regard to a system that aims at bringing the vehicle to a safe stop in case of driver unavailability, defining a “risk mitigation function”.

Proposal to clarify the text with regard to:

1. paragraph 2.6., Definition of an imminent collision
2. paragraphs 5.1.9 and 7.1.4., Lifetime of the system
3. paragraph 5.2.3.3., Traffic Rules and Safety Distance to the front
4. paragraph 5.2.5.2. – “anticipated TTC” in cut-in scenario
5. paragraph 6.2.5.1., Deactivation by input to driving controls
6. paragraph 6.2.6., Transition to assisted driving
7. paragraph 6.4.4., Examples of information to the driver
8. Annex 5 – Tests
   • Section 5.1. contains physical tests that have to be performed at the time of type approval
   • Section 5.2. aims to confirm at the time of type approval, that the system complies with the corresponding provisions of the main text. This confirmation shall be done by at least one physical test per provision, if possible due to the nature of the provision, and may be supported by further evidence.
   • Section 5.3. is a collection of additional scenarios, that the ALKS could encounter. Whether they are relevant to the ALKS depends on its ODD. So either the manufacturer explains why his system will not need to handle these scenarios, or has to explain the behaviour of the ALKS.
   • larify the content of par. 5.2. by rewording the provisions similar to that of the core text.

Consolidated proposal incorporating comments from OICA/CLEPA, CITA, Germany, and AVERE (including most recent proposal to the 7th GRVA session).

Proposal to modify the following elements:

1. paragraph 5.6.4.2.3., delete “temporarily”
2. paragraph 5.6.4.5.2.1., replace “actually” by “anticipated to be”
3. paragraph 5.6.4.6.6., B1 shall resume “in a timely manner”
4. paragraph 5.6.4.6.8.1., clarify the suppression criteria
5. paragraph 5.6.4.7., define distance tolerances for lane-change critical distances
6. Annex 8, Paragraph 2., Carry over the language already adopted for ACSF B1: “At the manufacturer’s discretion and with the agreement of the Technical Service, a lane with a width of less than 3.5 m may be used, if the correct function of the system on roads with wider lanes can be demonstrated.” and allow for lower temperature and wet surface test conditions, and
7. Annex 8, Paragraph 3.5.1.2. (j), amend the pass condition with regard to direction indicator deactivation.

Proposal for an alternative to ensure user attentiveness when activating a remote-controlled parking system.

Proposal for amendments to document GRVA/2020/22.

This proposal revises the changes proposed in document GRVA/2020/7 based on stakeholder feedback. The proposal introduces provisions for M₁ vehicle to allow for lateral accelerations up to 40% greater than the 3 m/s² limitation for a period up to two seconds in order to in order navigate unexpected changes in the radius of the curvature of a bend and avoid driving behaviour that may be unexpected and/or confusing to the operator and following vehicles.

Proposal from the Informal Working Group on Advanced Emergency Braking Systems (AEBS) for vehicles of Categories M1 and N1 in order to supplement the proposals of document GRVA/2020/35 to improve the text on a number of issues.

Proposal to clarify the explanation of the requirements of paragraph 7 and Annex 1 of the UN R156 (software updates and software updates management systems) and provide information on what may be used to evidence those requirements.

Proposal to clarify the explanation of the requirements of paragraph 7 and Annex 1 of the UN R156 (software updates and software updates management systems) and provide information on what may be used to evidence those requirements.

This document is password protected. Please contact the GRVA secretariat for access.

Proposal to include all vehicle categories M and N in the scope of UN R157.

The intention of the proposed amendment is to clarify the existing text on continued support of an ACSF B1 if the boundary conditions are exceeded.

The proposal aims to correct 5 types of inconsistencies:

1. The reference to Annex 4 is repeated in each sub-paragraph and should instead be stated once in each paragraph.
2. Acronyms are used inconsistently. Proposal to use them consistently throughout similar to UN-R79, e.g. Emergency Manoeuvre (EM), and when used in the text as “emergency manoeuvre”
3. Each sub-paragraph has a heading, this helps understand the structure and should be carried over to par. 8.1., 9.1. and 9.2. as well, the wording for the heading of par. 9.1. and 9.2. are derived from UN-R155 and UN-R156 respectively.
4. Consistent use of term throughout, e.g. R₁₅₇SWIN without blank, Cyber Security as two words as used in UN-R155
5. Editorial corrections, e.g. missing paragraph numbers, missing full stop in the paragraph number.

The intention of the proposed amendment is to clarify the existing text on continued support of an ACSF B1 if the boundary conditions are exceeded. It clarifies that under certain circumstances, e.g. if there are no lane markings present or if the vehicle has already drifted substantially out of the lane such that the lane may no longer be recognized, a continuation of support may no longer be possible or reasonable.

Proposal to amend the proposal from Germany regarding lane-change functionality:

1. paragraph 5.2.1. – lane keeping
2. paragraph 5.2.6.1. – risk to safety of the vehicle occupants and other road users
3. paragraphs 5.2.6.2. and 5.2.6.3. – preconditions for a lane change procedure
4. paragraph 5.2.6.5. – timing of a lane change maneuver
5. paragraph 5.2.6.6. and its sub-paragraphs – criticality of a lane change maneuver
6. paragraph 7.1.3. – rear detection range
7. Annex 5. – test cases for rear detection range, lane change.

Under the initial ALKS regulation and its reference to the new cyber security requlation, manufacturers are permitted to use an alternative software identification system instead of the proposed RxSWIN format. This proposal seeks to clarify the use of such alternative identifications in the approval process.

Presentation regarding requirements for stop lamp illumination with regard to various types of braking systems, including those of electric vehicles.

Proposal to ensure that the information provided regarding software updates is accessible for use in type approval, conformity of production, market surveillance, recalls and Periodic Technical Inspection (PTI).

Japan supports the proposal from Germany (GRVA-07-03) to establish an informal working group to develop requirements for heavy-duty vehicle VRU AEBS. Japan proposes to adapt provisions from UN R152 on light vehicle AEBS.

Proposal to replace the specification of the type and size of brake caliper and brake disc for brake lining CoP assessment with specifications for a pad area and thickness of the original approval. The original specification corresponds to obsolete caliper and rotor configurations no longer in widespread use.

Proposals for improvements and clarifications to the text of UN R152 from the AEBS informal working group.

CS/OTA informal group proposal for a document to assist with the implementation of the new UN Regulation on cybersecurity management. This document is also available with track changes in a word document format and portable document format.

Update proposal from the EDR/DSSAD informal working group for Guidance on EDR Performance Elements Appropriate for Adoption in 1958 and 1998 Agreement Resolutions or Regulations.

Updated proposal from the EDR/DSSAD informal group for a new UN Regulation on Event Data Recorders.