This is a copy of the document prepared during the third LKAS ad hoc group session (document LKAS-03-09) proposing refinements to the draft amendment to UN R79 that would enable the type approval of lane-keeping systems that incorporate automatic steering functions operating above 10 km/h (document GRRF-78-14).

This is a copy of the proposal submitted to the GRRF (i.e., document GRRF-78-14) to introduce lane-keeping assistance systems (LKAS) into the UN Regulation No. 79. In particular, this relates to the current UN R79 provision that limits automatic steering functions from operating at speeds above 10 km/h.

Proposal from Germany to include automatic steering systems under defined conditions for vehicle speeds above 10 km/h within UN Regulation No. 79.

Different in-use scenarios for automatically commanded steering functions.

Draft agenda for the first meeting of the informal working group on Automatically Commanded Steering Functions.

Working document of the 2nd ACSF informal group session with session changes highlighted.

Comments on document ACSF-03-03. In particular, the document raises the question of whether the proposed amendments should address software validation, the eventual use of external data from infrastructure or V2V sources, and responses to system/driver response failures.

Spreadsheet tool to calculate safety distances between vehicles as a function of speed and required braking distances.

Proposal for modifications to document ACSF-03-03 to enable the type approval of automated steering functions operating at speeds greater than 10 km/h.

Proposal for modifications to document ACSF-02-03 submitted by Germany to enable the type approval of automated steering functions at speeds greater than 10 km/h.

Input for the draft amendment to UN R79 to enable the type approval of automatically commanded steering functions for use at speeds above 10 km/h.

Comments on the draft amendment to UN R79 addressing automated steering as it stood at the end of the third ACSF informal group session. This document also raises links to rear vision (UN R46), AEBS (UN R131), and park assist systems.

Presentation on the concept of a minimum risk maneuver boundaries to define acceptable parameters for system-to-driver transition demands and system responses in cases of where the driver does not react.

Presentation proposing a requirement for defensive braking on vehicles equipped with ACSF because automated steering may result in driver inattention and therefore require compensating environment monitoring and automatic braking. This type of “protective braking” is viewed as a different order of braking than AEBS given that the principle involves maintaining of distances and avoiding accidents at speed rather than as an emergency or abrupt braking.

Amendments to the Draft report of 3rd session referring to SE advice; adjustments in homework table.

Proposal to consider a transition time between 2 and 4 seconds according to other variables (straight lane, curve, collision-imminent, lane change, etc.)

Presentation of results from Japan’s NTSEL research into the time required for the driver to transition from automated to manual steering modes and on driver/vehicle behavior throughout the transition period under various traffic scenarios.

Summary of consensus reached during the 4th ACSF informal group session for a 4 second transition time under normal operating conditions and immediate warning under emergency conditions.

Draft amendment to enable the approval of automated steering systems (e.g., lane-keeping/lane-changing assistance) for use at speeds above 10 km/h pursuant to discussions held during the 4th ACSF informal group session.