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UN R140: Proposal for a Supplement 7

Reference Number: WP.29/2026/20

Proposals to improve the text related to terminology across propulsion types (e.g., use of term “powertrain”) pursuant to similar improvements agreed via documents WP.20/2025/87 and 90.

Meeting Sessions: 198th WP.29 session (9-13 Mar)

Document date: 23 Dec 25

Document status: Adopted by WP.29

Relevant to

UN Regulation No. 140 | Electronic Stability Control Systems

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ESC/vehicle stability alternative assessment via ADS safety case

Reference Number: FADS-30-02

Submitted by: CLEPA and OICA

Meeting Sessions: 30th FADS session (15 Dec 2025)

Document date: 19 Dec 25

Relevant to

UN Regulation No. 13 | Heavy-Duty Vehicle Braking, UN Regulation No. 140 | Electronic Stability Control Systems, WP.29 Regulatory Project | Automated Driving Systems, and WP.29 Regulatory Project | Review of Regulations for Applicability to ADS Vehicles

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Proposal to amend Regulations under GRVA for application to ADS vehicles

Reference Number: GRVA/2026/6

Meeting Sessions: 24th GRVA session (19-23 Jan)

Document date: 07 Nov 25

Document status: GR amended and approved

Relevant to

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Vehicle stability (ESC/VSF) alternative assessment via the ADS Regulation

Reference Number: GRVA-WS11-07

Submitted by: CLEPA and OICA

Meeting Sessions: 11th GRVA-WS-ADS session (4-5 Nov 2025)

Document date: 30 Oct 25

Relevant to

UN Regulation No. 140 | Electronic Stability Control Systems, GTR No. 8 | Electronic Stability Control Systems, and WP.29 Regulatory Project | Automated Driving Systems

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UN R140: Proposal for exemption where ADS provides stability function

Reference Number: FADS-28-03/Rev.1

Submitted by: CLEPA and OICA

Meeting Sessions: 28th FADS session (23-24 Oct 2025)

Document date: 23 Oct 25

Relevant to

UN Regulation No. 140 | Electronic Stability Control Systems, WP.29 Regulatory Project | Automated Driving Systems, and WP.29 Regulatory Project | Review of Regulations for Applicability to ADS Vehicles

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AV Screening: Proposal to amend document GRVA-23-17

Reference Number: FADS-28-05/Rev.1

Meeting Sessions: 28th FADS session (23-24 Oct 2025)

Document date: 22 Oct 25

Relevant to

UN Regulation No. 89 | Speed Limitation Devices, UN Regulation No. 90 | Replacement Brake Linings, Discs, and Drums, UN Regulation No. 130 | Lane Departure Warning Systems, UN Regulation No. 131 | Advanced Emergency Braking Systems, UN Regulation No. 139 | Brake Assist Systems, UN Regulation No. 140 | Electronic Stability Control Systems, UN Regulation No. 152 | Automatic Emergency Braking for M1/N1 vehicles, UN Regulation No. 171 | Driver-Control Assistance Systems (DCAS), UN Regulation No. 178 | Emergency Lane-Keeping Systems, and WP.29 Regulatory Project | Review of Regulations for Applicability to ADS Vehicles

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Proposals to amend UN Regulations for application to ADS vehicles

Reference Number: FADS-28-08/Rev.1

Meeting Sessions: 28th FADS session (23-24 Oct 2025)

Document date: 22 Oct 25

Relevant to

UN Regulation No. 89 | Speed Limitation Devices, UN Regulation No. 90 | Replacement Brake Linings, Discs, and Drums, UN Regulation No. 130 | Lane Departure Warning Systems, UN Regulation No. 131 | Advanced Emergency Braking Systems, UN Regulation No. 139 | Brake Assist Systems, UN Regulation No. 140 | Electronic Stability Control Systems, UN Regulation No. 152 | Automatic Emergency Braking for M1/N1 vehicles, UN Regulation No. 157 | Automated Lane-Keeping Systems (ALKS), UN Regulation No. 171 | Driver-Control Assistance Systems (DCAS), UN Regulation No. 178 | Emergency Lane-Keeping Systems, and WP.29 Regulatory Project | Review of Regulations for Applicability to ADS Vehicles

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UN R140: Proposal for amendments

Reference Number: GRVA-23-31

Proposals to improve the text related to terminology across propulsion types (e.g., use of term “powertrain”) pursuant to similar improvements agreed via documents WP.20/2025/87 and 90.

Submitted by: UK

Meeting Sessions: 23rd GRVA session (22-25 Sep 2025)

Document date: 22 Sep 25

Relevant to

UN Regulation No. 140 | Electronic Stability Control Systems

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Proposals to address automated vehicle stability and ESC

Reference Number: FADS-27-09

Submitted by: CLEPA and OICA

Meeting Sessions: 27th FADS session (11-12 Sep 2025)

Document date: 11 Sep 25

Relevant to

UN Regulation No. 140 | Electronic Stability Control Systems, GTR No. 8 | Electronic Stability Control Systems, WP.29 Regulatory Project | Automated Driving Systems, and WP.29 Regulatory Project | Review of Regulations for Applicability to ADS Vehicles

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UN R140: Draft amendments to enable application to ADS vehicles

Reference Number: FADS-27-06/Rev.1

Submitted by: EC

Meeting Sessions: 27th FADS session (11-12 Sep 2025)

Document date: 11 Sep 25

Relevant to

UN Regulation No. 140 | Electronic Stability Control Systems and WP.29 Regulatory Project | Review of Regulations for Applicability to ADS Vehicles

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UN R140: Comments on draft amendment to enable application to ADS vehicles

Reference Number: FADS-26-02

Submitted by: CLEPA, EC, and OICA

Meeting Sessions: 26th FADS session (22 Jul 2025)

Document date: 17 Jul 25

Relevant to

UN Regulation No. 140 | Electronic Stability Control Systems and WP.29 Regulatory Project | Review of Regulations for Applicability to ADS Vehicles

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UN R140: Proposal for amendments

Reference Number: GRVA-22-39

Proposal to align the wording on “initiation of the powertrain” with MR2.

Submitted by: UK

Meeting Sessions: 22nd GRVA session (2-6 Jun 2025)

Document date: 05 Jun 25

Document status: Informal GR review

Relevant to

UN Regulation No. 140 | Electronic Stability Control Systems and United Nations Agreement | Mutual Resolution No. 2: Vehicle Propulsion System Definitions

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Electronic stability control sine dwell test example

Reference Number: FADS-24-03

Submitted by: EC

Meeting Sessions: 24th FADS session (12 May 2025)

Document date: 09 May 25

Relevant to

UN Regulation No. 140 | Electronic Stability Control Systems and GTR No. 8 | Electronic Stability Control Systems

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UN R140: Consolidated proposal for application to ADS vehicles

Reference Number: FADS-24-02

Submitted by: EC

Meeting Sessions: 24th FADS session (12 May 2025)

Document date: 09 May 25

Relevant to

UN Regulation No. 140 | Electronic Stability Control Systems and WP.29 Regulatory Project | Review of Regulations for Applicability to ADS Vehicles

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Provisions for PTI in UN Regulations

Reference Number: PTI-37-03/Rev.1

Submitted by: CITA

Meeting Sessions: 37th PTI session (20 Feb 2025)

Document date: 20 Feb 25

Relevant to

UN Regulation No. 140 | Electronic Stability Control Systems, UN Rule No. 2 | Vehicle Inspections: Roadworthiness, WP.29 Discussion Topic | Electronic Technical Inspections, and WP.29 Discussion Topic | Periodical Technical Inspections: Remote Access to Vehicle Data

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UN R140: Input on testing provisions

Reference Number: FADS-22-07

Submitted by: EC

Meeting Sessions: 22nd FADS session (10-13 Feb 2025)

Document date: 10 Feb 25

Relevant to

WP.29 Regulatory Project | Review of Regulations for Applicability to ADS Vehicles and UN Regulation No. 140 | Electronic Stability Control Systems

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Regulation Fitness for ADS (GRVA): Report of the 21st (January 2025) session

Reference Number: FADS-21-12

Meeting Sessions: 21st FADS session (13 Jan 2025)

Document date: 17 Jan 25

Relevant to

UN Regulation No. 13 | Heavy-Duty Vehicle Braking, UN Regulation No. 13-H | Light-Duty Vehicle Braking, UN Regulation No. 79 | Steering Equipment, UN Regulation No. 140 | Electronic Stability Control Systems, GTR No. 8 | Electronic Stability Control Systems, WP.29 Regulatory Project | Automated vehicle categorisation, and WP.29 Regulatory Project | Review of Regulations for Applicability to ADS Vehicles

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Comments on document FADS-18-07

Reference Number: FADS-21-08

Submitted by: CLEPA and OICA

Meeting Sessions: 21st FADS session (13 Jan 2025)

Document date: 13 Jan 25

Relevant to

UN Regulation No. 140 | Electronic Stability Control Systems, WP.29 Regulatory Project | Review of Regulations for Applicability to ADS Vehicles, and UN Regulation No. 79 | Steering Equipment

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UN R140: Comments on document FADS-21-02

Reference Number: FADS-21-09

Submitted by: CLEPA and OICA

Meeting Sessions: 21st FADS session (13 Jan 2025)

Document date: 13 Jan 25

Relevant to

UN Regulation No. 140 | Electronic Stability Control Systems and WP.29 Regulatory Project | Review of Regulations for Applicability to ADS Vehicles

View full document file for more information

Download from UNECE:

.docx format


13 Jan 2025	Comments on document FADS-18-07 (CLEPA and OICA)	FADS-21-08	2025-01-13
13 Jan 2025	UN R140: Comments on document FADS-21-02 (CLEPA and OICA)	FADS-21-09	2025-01-13
17 Jan 2025	Regulation Fitness for ADS (GRVA): Report of the 21st (January 2025) session	FADS-21-12	2025-01-17
10 Feb 2025	UN R140: Input on testing provisions (EC)	FADS-22-07	2025-02-10
9 May 2025	UN R140: Consolidated proposal for application to ADS vehicles (EC)	FADS-24-02	2025-05-09
9 May 2025	Electronic stability control sine dwell test example (EC)	FADS-24-03	2025-05-09
17 Jul 2025	UN R140: Comments on draft amendment to enable application to ADS vehicles (CLEPA, EC, and OICA)	FADS-26-02	2025-07-17
11 Sep 2025	UN R140: Draft amendments to enable application to ADS vehicles (EC)	FADS-27-06/Rev.1	2025-09-11
11 Sep 2025	Proposals to address automated vehicle stability and ESC (CLEPA and OICA)	FADS-27-09	2025-09-11
23 Oct 2025	UN R140: Proposal for exemption where ADS provides stability function (CLEPA and OICA)	FADS-28-03/Rev.1	2025-10-23
22 Oct 2025	AV Screening: Proposal to amend document GRVA-23-17	FADS-28-05/Rev.1	2025-10-22
22 Oct 2025	Proposals to amend UN Regulations for application to ADS vehicles	FADS-28-08/Rev.1	2025-10-22
19 Dec 2025	ESC/vehicle stability alternative assessment via ADS safety case (CLEPA and OICA)	FADS-30-02	2025-12-19
5 Jun 2025	UN R140: Proposal for amendments (UK)	GRVA-22-39	2025-06-05
22 Sep 2025	UN R140: Proposal for amendments (UK)	GRVA-23-31	2025-09-22
30 Oct 2025	Vehicle stability (ESC/VSF) alternative assessment via the ADS Regulation (CLEPA and OICA)	GRVA-WS11-07	2025-10-30
7 Nov 2025	Proposal to amend Regulations under GRVA for application to ADS vehicles	GRVA/2026/6	2025-11-07
20 Feb 2025	Provisions for PTI in UN Regulations (CITA)	PTI-37-03/Rev.1	2025-02-20
31 Dec 2025	UN R140: Proposal for a Supplement 7	WP.29/2026/20	2025-12-31