This document presents activities in China on a testing methodology for traffic rule compliance by ADS-equipped vehicles. The document addresses safety risks from inconsistent adherence to traffic regulations and proposes that ADS shall comply with traffic rules applicable to the dynamic driving task in the country of operation, applying the same rules as human drivers. It describes 12 core driving tasks categorized into safety, operation, and interaction clusters, 398 evaluation criteria, and 4 traffic elements. The methodology integrates virtual simulation, closed-site testing, and real-road testing to verify ADS compliance with traffic rules comprehensively within the operational design domain and in critical scenarios.

This document consolidates amendments to WP.29/2026/86 by GRVA/2026/14, GRVA-25-46, and GRVA-25-51. It proposes to amend para. 5.5.4.2.8.2., renumber reference to para. 5.3.7.2.1.1.1. to 5.3.7.2.4.10., amend paras. 5.3.7.2.4.2., 5.3.7.2.5.3.1., 5.3.7.2.6.1., 6.4.2., and 7.2.3.1., replace “definitely” with “definitively” in para. 14.2. and Annex 3 paras. 3.1.1.a and 3.1.1.b, insert new para. 16.2.3. effective 1 September 2029, amend Annex 1 para. 6.4., renumber reference in Annex 3 para. 3.5.7., amend Annex 3 Appendix 2 para. 2.3.2., amend text in Annex 4 diagrams at paras. 4.2.5.2.8.1.2., 4.2.5.2.10.1.1., 4.2.5.2.12.1.1., 4.2.5.2.16.1.3., and 4.2.5.2.20.1.3., delete second diagram in para. 4.2.5.2.14.1.2., amend paras. 4.2.5.2.14.2.1. and 4.2.5.2.19.2.1., and delete words in para. 4.2.5.2.19.1.1.

Proposal to enable the type approval of automated vehicles, including those without manual controls.

Proposal to enable the type-approval of ADS vehicles, including those without manual controls.

Proposal to enable the type-approval of ADS vehicles, including those without manual controls.

Proposal from the task force on Automated Vehicle Categorisation (AVC) to amend the Resolution on vehicle categories for application to ADS vehicles, including the introduction of new subcategories X and Y.

Proposal from the task force on Automated Vehicle Categorisation (AVC) to amend the Resolution on vehicle construction for application to ADS vehicles, including the introduction of new vehicle subcategories X and Y.

Proposal to establish a guidance on the use of the UN secure internet database “DETA” for the exchange of information on incidents related to DCAS operation between Type Approval Authorities.

Proposal to introduce an Annex 6 providing guidance on the use of the DETA internet database for the exchange of information on incidents related to DCAS operation between Type Approval Authorities.

Proposal to remove references to system-initiated manoeuvres (SIM) to reduce risks of misinterpretation of the regulation. The approval of SIM has not yet been proposed by the ADAS task force.

Proposal to ensure that vehicles exhibiting functionality meeting the definition of ACSF-B2 or -E are required to comply with the correct series of R171.

Proposal to insert initialisation provision: “If ACPE is not ready to perform an intervention 6 s after the initiation of the vehicle powertrain, information of this status shall be indicated to the driver. This information shall exist until the system has been successfully initialised.”

Proposal improve consistency in the bedding/burnishing procedure and to align the Communication Form with that of other UN Regulations.

Pursuant to changing the application of the Unique Identifier (UI) under the 1958 Agreement, this proposal deletes the prohibition on use of the UI for replacement brake components under UN R90. Originally, the UI was applied by default to all UN Regulations which therefore required certain regulations to prohibit its use. Pursuant to the adopted proposal WP.29/2025/17, each regulation grants permission to use the UI so the provision prohibiting use under UN R90 is no longer needed.

Proposal to require technical services performing audits and certification of management systems under UN Regulations to comply with ISO/IEC 17021:2015.

Proposal from the FADS informal group to introduce amendments to enable the application of UN R13 to automated vehicles, including those without manual controls.

Proposal from the FADS informal group to introduce amendments to enable the type approval of ADS vehicles, including those without manual controls.

Proposal from the FADS informal working group to enable the type approval of ADS vehicles, including those without manual controls.

Proposal to align UN R130 with the harmonised wording approved by WP.29 with regard to conditions for automatic reinstatement of a system at the “initiation of each engine start/run cycle”.

Proposal to enable real-time reading of electrical transmission brake demand values via an OBD connector and scan tool during periodical technical inspections.

Proposal to enable real-time reading of electrical transmission brake values during periodical technical inspections.

Proposal to clarify that the Emergency Stop Signal (ESS) may be generated by application of the service braking system via the Electronic Parking Brake (EPB) control.

Proposal to clarify that only one braking control (e.g., service braking control, parking brake control) shall be used for each test condition of the secondary braking effectiveness and to permit the selection of the braking control based on the vehicle load condition.

Proposal to require technical services performing audits and certification of management systems under UN Regulations to comply with ISO/IEC 17021:2015.

Proposal to introduce transitional provisions pursuant to the adoption of Supplements by W.29 that inadvertently included changes to the approval requirements.

Proposal to modify UN R171 through the 02 series of amendments, based on WP.29/2025/7, WP.29-195-05, and WP.29/2025/144, introducing modifications addressing system-initiated manoeuvres in non-highway environments and during phases of withholding hands-on requests, enhanced driver disengagement monitoring and warning strategies, controllability requirements for complex operational scenarios, speed limit assistance features, safe headway assistance, system validation through multiple assessment pillars including physical tests and in-service monitoring, and comprehensive safety management system requirements for manufacturers. Additional specifications include monitoring of DCAS operation with mandatory reporting of safety-critical occurrences to Type Approval Authorities, periodic reporting requirements with specific data collection metrics, and software identification and updating compliance with UN R156.

Proposal to update the Interpretation Document to reflect provisions introduced by the 01 series of amendments to UN R156.

Proposal to update the declaration of compliance and the certificate of compliance to identify the series of UN R156 under which the documents were issued.

Proposal to require require manufacturers to provide a method for objectively determining the moment of “Risk Mitigation Function” (RMF) initiation to enable assessment of the RMF warning signals and other driver warnings, hazard lights, and indicators in relation to the objectively determined RMF initiation point.

Proposals to resolve issues with accepting the approval of M₂, M₃ and N₂ vehicles to Regulation No. 152.

Proposal for amendments to the 05 series of UN R79 to enable the type approval of ADS vehicles, including those without manual controls.