This document is based upon a CS/OTA task force document (TFCS-03-04) and is also available with tracked changes against this original task force draft in pdf format and docx format.

Comments on document GRVA/2019/2.

Draft proposal developed during side meetings at the third GRVA session.

Russia proposal for terms of reference and rules of procedure for an informal working group on functional requirements for automated vehicles based on GRVA-03-07.

Draft document prepared after the GRVA-03 session based upon discussions and decisions during the session.

Draft document prepared by the GRVA secretariat after the GRVA-03 session based upon discussions and decisions during the session.

Draft proposal prepared by the GRVA secretariat following the GRVA-03 session based upon the session discussions and decisions. The proposal would establish an informal group under GRVA and GRSG to develop provisions for Electronic Data Recorders (EDR) and Data Storage Systems for Automated Driving (DSSAD);

Matrix illustrating a possible way that use of simulation, track, and real world testing might be applied to the various automated vehicle safety elements identified by WP.29 Contracting Parties.

Proposal the clarify the test method for the evaluation of performance of energy sources and energy storage devices under Annex 7. In particular, the proposal clarifies that the measurement is made on the ninth brake application.

Proposal to amend the draft text (GRVA/2019/9) submitted to resolve measurement concerns in the test requirements for ACSF of Category B1 and C by introducing provisions for tolerances, including:

1. inclusion of the position at which the lateral acceleration was measured and the position of the centre of gravity of the vehicle for better traceablility,
2. sampling rate of at least 100 Hz for dynamic testing,
3. specification of filters and cut-off frequency for determination of lateral acceleration,
4. option to measure “overriding force” torque via an internal sensor or an external device (e.g., steering robot).

AEBS informal group proposal to introduce new and enhanced requirements for the car-to-pedestrian test scenario.

Proposal from the AEBS informal group to improve and clarify the text of the Regulation.

Proposal to update and clarify Annex 6 on requirements for documentation, fault strategy and verification of the safety of electronic systems and complex electronic vehicle control systems related to vehicle steering. The assessment particularly addresses driver assistance and automated steering.

Proposal to introduce provisions for the approval of Remote Control Manoeuvring (RCM) systems.

Proposal to allow for the use of the maximum operable steering wheel angle of a steering system’s design in cases where the normalized angle as calculated under the regulation cannot meet the fixed values of the regulation (i.e., between 270 and 300 degrees). The intention is to enable approval of eventual systems (e.g., steer-by-wire) that may use low steering gear ratios.

Proposal to align GTR No. 3 with technical progress, addressing among others: electromagnetic compatibility/immunity of ABS-systems, ABS performance requirements for category 3-5 vehicles (three-wheelers), uniform requirements for equipment such Emergency Stop Signal and the means to disable the ABS, if equipped. This amendment aims to harmonize GTR with recent amendments made to UN Regulation No. 78 while addressing its use under self-certification compliance systems.

Proposal to introduce provisions for a “two-step Human Machine Interface” in the requirements for Automatically Commanded Steering Functions (ACSF) of Category C lane-change functions.

Proposal to align approval numbers and markings under UN R90 with Schedule 4 of Revision 3 to the 1958 Agreement.