UN Regulation No. 79 contains provisions for the use of an “automatically commanded steering function” (i.e., automated steering) that restricts use to speeds up to 10 km/h. In light of automated vehicle systems (such as lane keeping assistance) that propose automated steering control at higher speeds, including on highways, the ACSF informal working group was formed to consider amending UN R79 to enable the approval of such higher speed automated steering systems.
In addition to the core system capabilities and performance provisions, the group expects to consider malfunction warning requirements and system testing under periodic technical inspections.
| Proposal to establish an Informal Working Group on ACSF (Document GRRF-79-23) |
| Reference Number: ACSF-01-02 |
| Meeting Sessions: 1st ACSF session (29-30 Apr 2015) |
| Document date: 22 Apr 15 |
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Relevant to
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| View full document file for more information |
| Guidance to GRs concerning Automated Driving Technology (Document ITS-AD-03-04-rev1) |
| Reference Number: ACSF-01-03 |
| Meeting Sessions: 1st ACSF session (29-30 Apr 2015) |
| Document date: 22 Apr 15 |
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Relevant to
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| Proposal for amendments to UN Regulation No.79 (Document GRRF-78-14e) |
| Reference Number: ACSF-01-04 |
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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. |
| Meeting Sessions: 1st ACSF session (29-30 Apr 2015) |
| Document date: 24 Apr 15 |
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Relevant to
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| View full document file for more information |
| Proposal for amendments to informal document GRRF-78-14 (document LKAS-03-09e) |
| Reference Number: ACSF-01-05 |
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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). |
| Meeting Sessions: 1st ACSF session (29-30 Apr 2015) |
| Document date: 24 Apr 15 |
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Relevant to
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| View full document file for more information |
| Draft terms of reference for the informal group on Periodical Technical Inspections (Document PTI-01-01) |
| Reference Number: ACSF-01-07 |
| Submitted by: Russia |
| Meeting Sessions: 1st ACSF session (29-30 Apr 2015) |
| Document date: 27 Apr 15 |
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Relevant to
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| OICA and CLEPA input regarding the regulation of automated steering systems |
| Reference Number: ACSF-01-09 |
| Submitted by: OICA and CLEPA |
| Meeting Sessions: 1st ACSF session (29-30 Apr 2015) |
| Document date: 27 Apr 15 |
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Relevant to
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| German proposal to amend UN Regulation No. 79 with regard to automated steering |
| Reference Number: ACSF-01-08 |
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Proposal from Germany to include automatic steering systems under defined conditions for vehicle speeds above 10 km/h within UN Regulation No. 79. |
| Meeting Sessions: 1st ACSF session (29-30 Apr 2015) |
| Document date: 27 Apr 15 |
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Relevant to
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| EC proposal for ITS/Automated Driving informal group revised draft terms of reference |
| Reference Number: ACSF-01-06 |
| Submitted by: EC |
| Meeting Sessions: 1st ACSF session (29-30 Apr 2015) |
| Document date: 27 Apr 15 |
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Relevant to
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| Heavy Commercial Vehicle Industry input regarding automatically commanded steering function regulation |
| Reference Number: ACSF-01-10 |
| Submitted by: OICA |
| Meeting Sessions: 1st ACSF session (29-30 Apr 2015) |
| Document date: 27 Apr 15 |
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Relevant to
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| Automatically Commanded Steering Function: Informal group introductory presentation |
| Reference Number: ACSF-01-11 |
| Submitted by: Japan |
| Meeting Sessions: 1st ACSF session (29-30 Apr 2015) |
| Document date: 27 Apr 15 |
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Relevant to
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| Homework for the next ACSF informal working group meeting |
| Reference Number: ACSF-01-13 |
| Meeting Sessions: 1st ACSF session (29-30 Apr 2015) |
| Document date: 11 May 15 |
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Relevant to
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| Use cases for ACSF |
| Reference Number: ACSF-01-12 |
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Different in-use scenarios for automatically commanded steering functions. |
| Submitted by: CLEPA and OICA |
| Meeting Sessions: 1st ACSF session (29-30 Apr 2015) |
| Document date: 29 Apr 15 |
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Relevant to
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| Draft agenda for the first ACSF informal working group session |
| Reference Number: ACSF-01-01/Rev.1 |
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Draft agenda for the first meeting of the informal working group on Automatically Commanded Steering Functions. |
| Meeting Sessions: 1st ACSF session (29-30 Apr 2015) |
| Document date: 11 May 15 |
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Relevant to
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| Report of the ACSF informal group on its first session |
| Reference Number: ACSF-01-14 |
| Meeting Sessions: 1st ACSF session (29-30 Apr 2015) |
| Document date: 16 May 15 |
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Relevant to
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| Logistical information for the 2nd session of the ACSF informal group |
| Reference Number: ACSF-02-01 |
| Meeting Sessions: 2nd ACSF session (15-17 Jun 2015) |
| Document date: 11 May 15 |
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Relevant to
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| Draft agenda for the 2nd ACSF informal working group session |
| Reference Number: ACSF-02-02 |
| Meeting Sessions: 2nd ACSF session (15-17 Jun 2015) |
| Document date: 02 Jun 15 |
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Relevant to
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| Japan contribution on HMI research with regard to ACSF |
| Reference Number: ACSF-02-05 |
| Submitted by: Japan |
| Meeting Sessions: 2nd ACSF session (15-17 Jun 2015) |
| Document date: 09 Jun 15 |
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Relevant to
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| HMI concept of ACSF - background knowledge from research |
| Reference Number: ACSF-02-04 |
| Submitted by: Germany |
| Meeting Sessions: 2nd ACSF session (15-17 Jun 2015) |
| Document date: 09 Jun 15 |
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Relevant to
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| Proposal for amendments to Regulation No. 79 to include ACSF > 10 km/h |
| Reference Number: ACSF-02-03 |
| Submitted by: Germany |
| Meeting Sessions: 2nd ACSF session (15-17 Jun 2015) |
| Document date: 09 Jun 15 |
| Document status: Superseded |
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Relevant to
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| View full document file for more information |
| Presentation on possible principles for an ACSF test procedure |
| Reference Number: ACSF-02-07 |
| Submitted by: OICA and CLEPA |
| Meeting Sessions: 2nd ACSF session (15-17 Jun 2015) |
| Document date: 11 Jun 15 |
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Relevant to
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| Traffic jam assistance systems for use on all roads |
| Reference Number: ACSF-02-08 |
| Submitted by: OICA and CLEPA |
| Meeting Sessions: 2nd ACSF session (15-17 Jun 2015) |
| Document date: 11 Jun 15 |
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Relevant to
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| Human-Machine Interface (HMI): Drive in/out of the loop |
| Reference Number: ACSF-02-06 |
| Submitted by: OICA and CLEPA |
| Meeting Sessions: 2nd ACSF session (15-17 Jun 2015) |
| Document date: 11 Jun 15 |
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Relevant to
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| Evaluation of ACSF during periodic technical inspection |
| Reference Number: ACSF-02-09 |
| Submitted by: OICA |
| Meeting Sessions: 2nd ACSF session (15-17 Jun 2015) |
| Document date: 12 Jun 15 |
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Relevant to
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| View full document file for more information |
| Presentation on regulatory requirements for ACSF systems |
| Reference Number: ACSF-02-10 |
| Submitted by: BMV |
| Meeting Sessions: 2nd ACSF session (15-17 Jun 2015) |
| Document date: 14 Jun 15 |
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Relevant to
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| Basic sketch of dependencies to identify automated steering regulatory needs |
| Reference Number: ACSF-02-11 |
| Submitted by: Germany |
| Meeting Sessions: 2nd ACSF session (15-17 Jun 2015) |
| Document date: 14 Jun 15 |
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Relevant to
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| Belgian comments on the draft amendment to enable approval of ACSF at speeds above 10 km/h |
| Reference Number: ACSF-02-13 |
| Submitted by: Belgium |
| Meeting Sessions: 2nd ACSF session (15-17 Jun 2015) |
| Document date: 16 Jun 15 |
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Relevant to
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| Position paper on the necessity for event recorders and on-board diagnostics for automated steering systems |
| Reference Number: ACSF-02-12 |
| Submitted by: Japan |
| Meeting Sessions: 2nd ACSF session (15-17 Jun 2015) |
| Document date: 16 Jun 15 |
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Relevant to
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| Draft report of the 2nd ACSF informal working group session |
| Reference Number: ACSF-02-14 |
| Meeting Sessions: 2nd ACSF session (15-17 Jun 2015) |
| Document date: 17 Jul 15 |
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Relevant to
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| Draft report of the 2nd ACSF informal working group session |
| Reference Number: ACSF-02-14/Rev.1 |
| Meeting Sessions: 2nd ACSF session (15-17 Jun 2015) |
| Document date: 22 Jul 15 |
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Relevant to
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| Venue information of the 3rd ACSF informal group session |
| Reference Number: ACSF-03-02 |
| Meeting Sessions: 3rd ACSF session (2-3 Sep 2015) |
| Document date: 24 Jul 15 |
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Relevant to
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| Proposal for amendments to Regulation No. 79 to include ACSF > 10 km/h: revision 1 |
| Reference Number: ACSF-02-03/Rev.1 |
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Working document of the 2nd ACSF informal group session with session changes highlighted. |
| Meeting Sessions: 2nd ACSF session (15-17 Jun 2015) |
| Document date: 11 Aug 15 |
| Document status: Superseded |
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Relevant to
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| View full document file for more information |
| Proposed changes to the draft amendments to Regulation No. 79 to include ACSF > 10 km/h |
| Reference Number: ACSF-03-03 |
| Submitted by: Germany |
| Meeting Sessions: 3rd ACSF session (2-3 Sep 2015) |
| Document date: 11 Aug 15 |
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Relevant to
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| View full document file for more information |
| Netherlands comments on the proposal for automated steering > 10 km/h under UN R79 |
| Reference Number: ACSF-03-04 |
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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. |
| Submitted by: Netherlands |
| Meeting Sessions: 3rd ACSF session (2-3 Sep 2015) |
| Document date: 25 Aug 15 |
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Relevant to
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| View full document file for more information |
| Tool to calculate safety distances based upon vehicle speed |
| Reference Number: ACSF-03-05 |
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Spreadsheet tool to calculate safety distances between vehicles as a function of speed and required braking distances. |
| Submitted by: CLEPA |
| Meeting Sessions: 3rd ACSF session (2-3 Sep 2015) |
| Document date: 27 Aug 15 |
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Relevant to
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| View full document file for more information |
| Japanese proposals for the updated text on automatically commanded steering function under UN R79 |
| Reference Number: ACSF-03-07 |
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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. |
| Submitted by: Japan |
| Meeting Sessions: 3rd ACSF session (2-3 Sep 2015) |
| Document date: 28 Aug 15 |
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Relevant to
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| Presentation on "Automatically commanded steering function" , "Corrective steering function" and "Autonomous Steering System" |
| Reference Number: ACSF-03-08 |
| Submitted by: NTSEL |
| Meeting Sessions: 3rd ACSF session (2-3 Sep 2015) |
| Document date: 28 Aug 15 |
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Relevant to
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| Japanese proposals for the text on automatically commanded steering function under UN R79 |
| Reference Number: ACSF-03-06 |
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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. |
| Submitted by: Japan |
| Meeting Sessions: 3rd ACSF session (2-3 Sep 2015) |
| Document date: 31 Aug 15 |
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Relevant to
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| Proposed changes to the draft amendments to Regulation No. 79 to include ACSF > 10 km/h (no mark-up) |
| Reference Number: ACSF-03-03/Rev.1.1 |
| Submitted by: Germany |
| Meeting Sessions: 3rd ACSF session (2-3 Sep 2015) |
| Document date: 31 Aug 15 |
| Document status: Superseded |
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Relevant to
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| View full document file for more information |
| Proposed changes to the draft amendments to Regulation No. 79 to include ACSF > 10 km/h |
| Reference Number: ACSF-03-03/Rev.1 |
| Submitted by: Germany |
| Meeting Sessions: 3rd ACSF session (2-3 Sep 2015) |
| Document date: 31 Aug 15 |
| Document status: Superseded |
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Relevant to
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| View full document file for more information |
| Presentation on the German proposals for automatically commanded steering functions under UN R79 |
| Reference Number: ACSF-03-09 |
| Submitted by: Germany |
| Meeting Sessions: 3rd ACSF session (2-3 Sep 2015) |
| Document date: 31 Aug 15 |
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Relevant to
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| View full document file for more information |
| Evaluation of ACSF during periodic technical inspection (Revision 1) |
| Reference Number: ACSF-02-09/Rev.1 |
| Meeting Sessions: 2nd ACSF session (15-17 Jun 2015) |
| Document date: 02 Sep 15 |
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Relevant to
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| View full document file for more information |
| OICA/CLEPA comments on ACSF 02-03 (D) Emergency Test 1 (EM1) |
| Reference Number: ACSF-03-10 |
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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. |
| Submitted by: OICA and CLEPA |
| Meeting Sessions: 3rd ACSF session (2-3 Sep 2015) |
| Document date: 01 Sep 15 |
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Relevant to
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| View full document file for more information |
| Final draft of the 3rd ACSF informal group session for the amendment of UN R79 |
| Reference Number: ACSF-03-16 |
| Meeting Sessions: 3rd ACSF session (2-3 Sep 2015) |
| Document date: 07 Sep 15 |
| Document status: Superseded |
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Relevant to
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| View full document file for more information |
| OICA/CLEPA proposal for "minimal risk manoeuvre" definition with regard to automated vehicle control functions |
| Reference Number: ACSF-03-15 |
| Submitted by: OICA and CLEPA |
| Meeting Sessions: 3rd ACSF session (2-3 Sep 2015) |
| Document date: 02 Sep 15 |
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Relevant to
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| Proposals for ACSF status definition and HMI |
| Reference Number: ACSF-03-12 |
| Submitted by: OICA and CLEPA |
| Meeting Sessions: 3rd ACSF session (2-3 Sep 2015) |
| Document date: 07 Sep 15 |
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Relevant to
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| Results of "industry homework" for the 3rd ACSF informal group session |
| Reference Number: ACSF-03-13 |
| Submitted by: OICA and CLEPA |
| Meeting Sessions: 3rd ACSF session (2-3 Sep 2015) |
| Document date: 02 Sep 15 |
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Relevant to
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| Proposal for a lane-change test procedure for ACSF type approval |
| Reference Number: ACSF-03-14 |
| Submitted by: OICA and CLEPA |
| Meeting Sessions: 3rd ACSF session (2-3 Sep 2015) |
| Document date: 02 Sep 15 |
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Relevant to
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| Revised proposal for ACSF Transition Test 2 (TR2) |
| Reference Number: ACSF-03-11 |
| Submitted by: CLEPA and OICA |
| Meeting Sessions: 3rd ACSF session (2-3 Sep 2015) |
| Document date: 02 Sep 15 |
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Relevant to
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| Final agenda for the 3rd ACSF informal group session |
| Reference Number: ACSF-03-01/Rev.1 |
| Meeting Sessions: 3rd ACSF session (2-3 Sep 2015) |
| Document date: 02 Sep 15 |
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Relevant to
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| Final report of the 2nd ACSF informal working group session |
| Reference Number: ACSF-02-14/Rev.2 |
| Meeting Sessions: 2nd ACSF session (15-17 Jun 2015) |
| Document date: 14 Sep 15 |
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Relevant to
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| Draft report of the 3rd ACSF informal working group session |
| Reference Number: ACSF-03-17 |
| Meeting Sessions: 3rd ACSF session (2-3 Sep 2015) |
| Document date: 14 Sep 15 |
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Relevant to
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| Information for the 4th ACSF informal working group session |
| Reference Number: ACSF-04-01 |
| Meeting Sessions: 4th ACSF session (25-27 Nov 2015) |
| Document date: 17 Sep 15 |
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Relevant to
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| Draft agenda for the 4th ACSF informal group session |
| Reference Number: ACSF-04-02 |
| Meeting Sessions: 4th ACSF session (25-27 Nov 2015) |
| Document date: 06 Nov 15 |
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Relevant to
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| View full document file for more information |
| French proposal for UN R79 based upon document ACSF-03-16 |
| Reference Number: ACSF-04-03 |
|
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. |
| Submitted by: France |
| Meeting Sessions: 4th ACSF session (25-27 Nov 2015) |
| Document date: 12 Nov 15 |
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Relevant to
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| View full document file for more information |
| Input towards the definition of Category E automated steering systems |
| Reference Number: ACSF-04-08 |
| Submitted by: Japan |
| Meeting Sessions: 4th ACSF session (25-27 Nov 2015) |
| Document date: 19 Nov 15 |
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Relevant to
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| Safety Distances and Object Classifications for ACSF |
| Reference Number: ACSF-04-05 |
| Submitted by: BMV |
| Meeting Sessions: 4th ACSF session (25-27 Nov 2015) |
| Document date: 19 Nov 15 |
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Relevant to
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| View full document file for more information |
| ACSF: Minimum risk maneuvers (MRM) |
| Reference Number: ACSF-04-07 |
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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. |
| Submitted by: BMV |
| Meeting Sessions: 4th ACSF session (25-27 Nov 2015) |
| Document date: 19 Nov 15 |
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Relevant to
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| Protective Braking for ACSF |
| Reference Number: ACSF-04-04 |
|
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. |
| Submitted by: BMV |
| Meeting Sessions: 4th ACSF session (25-27 Nov 2015) |
| Document date: 19 Nov 15 |
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Relevant to
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| View full document file for more information |
| ACSF: Lane-change test |
| Reference Number: ACSF-04-06 |
| Submitted by: BMV |
| Meeting Sessions: 4th ACSF session (25-27 Nov 2015) |
| Document date: 19 Nov 15 |
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Relevant to
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| View full document file for more information |
| Korea proposal for ACSF amendments to UN R79 based upon document ACSF-03-16 |
| Reference Number: ACSF-04-09 |
| Submitted by: Korea |
| Meeting Sessions: 4th ACSF session (25-27 Nov 2015) |
| Document date: 20 Nov 15 |
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Relevant to
|
| View full document file for more information |
| Updated draft report of the 3rd ACSF informal group session |
| Reference Number: ACSF-03-17/Rev.1 |
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Amendments to the Draft report of 3rd session referring to SE advice; adjustments in homework table. |
| Meeting Sessions: 3rd ACSF session (2-3 Sep 2015) |
| Document date: 20 Nov 15 |
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Relevant to
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| Japan comments on the draft ACSF amendments to UN R79 (based upon document ACSF-03-16) |
| Reference Number: ACSF-04-10 |
| Submitted by: Japan |
| Meeting Sessions: 4th ACSF session (25-27 Nov 2015) |
| Document date: 20 Nov 15 |
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Relevant to
|
| View full document file for more information |
| Netherlands comments and proposals for Tests I and II under the draft ACSF amendments to UN R79 |
| Reference Number: ACSF-04-11 |
| Submitted by: Netherlands |
| Meeting Sessions: 4th ACSF session (25-27 Nov 2015) |
| Document date: 20 Nov 15 |
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Relevant to
|
| View full document file for more information |
| OICA-CLEPA input concerning automated steering transition demand and minimum risk maneouvre provisions |
| Reference Number: ACSF-04-12 |
| Submitted by: OICA and CLEPA |
| Meeting Sessions: 4th ACSF session (25-27 Nov 2015) |
| Document date: 20 Nov 15 |
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Relevant to
|
| View full document file for more information |
| OICA-CLEPA comments on the draft ACSF amendment to UN R79 (based on document ACSF-03-16) |
| Reference Number: ACSF-04-13 |
| Submitted by: OICA and CLEPA |
| Meeting Sessions: 4th ACSF session (25-27 Nov 2015) |
| Document date: 20 Nov 15 |
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Relevant to
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| View full document file for more information |
| Toyota Motor survey on the transition time from ACSF to Manual Driving |
| Reference Number: ACSF-04-14 |
| Submitted by: Japan |
| Meeting Sessions: 4th ACSF session (25-27 Nov 2015) |
| Document date: 20 Nov 15 |
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Relevant to
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| View full document file for more information |
| Results of NTSEL study on ACSF transition time |
| Reference Number: ACSF-04-15 |
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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. |
| Submitted by: NTSEL and Japan |
| Meeting Sessions: 4th ACSF session (25-27 Nov 2015) |
| Document date: 25 Nov 15 |
|
Relevant to
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| View full document file for more information |
| Japan proposal for ACSF automated-to-manual steering transition time requirements |
| Reference Number: ACSF-04-16 |
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Proposal to consider a transition time between 2 and 4 seconds according to other variables (straight lane, curve, collision-imminent, lane change, etc.) |
| Submitted by: Japan |
| Meeting Sessions: 4th ACSF session (25-27 Nov 2015) |
| Document date: 25 Nov 15 |
|
Relevant to
|
| View full document file for more information |
| Updated agenda for the 4th ACSF informal group session |
| Reference Number: ACSF-04-02/Rev.1 |
| Meeting Sessions: 4th ACSF session (25-27 Nov 2015) |
| Document date: 25 Nov 15 |
|
Relevant to
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| Germany proposal for ACSF amendments to UN R79 based upon document ACSF-03-16 |
| Reference Number: ACSF-04-17 |
| Submitted by: Germany |
| Meeting Sessions: 4th ACSF session (25-27 Nov 2015) |
| Document date: 25 Nov 15 |
|
Relevant to
|
| View full document file for more information |
| Final report of the 3rd ACSF informal group session |
| Reference Number: ACSF-03-17/Rev.2 |
| Meeting Sessions: 3rd ACSF session (2-3 Sep 2015) |
| Document date: 25 Nov 15 |
|
Relevant to
|
| View full document file for more information |
| Revised OICA-CLEPA input concerning automated steering transition demand and minimum risk maneouvre provisions |
| Reference Number: ACSF-04-12/Rev.1 |
| Submitted by: OICA and CLEPA |
| Meeting Sessions: 4th ACSF session (25-27 Nov 2015) |
| Document date: 27 Nov 15 |
|
Relevant to
|
| View full document file for more information |
| Outcome of the ACSF informal group discussion on warning/transition times for Category E automated steering systems |
| Reference Number: ACSF-04-18 |
|
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. |
| Meeting Sessions: 4th ACSF session (25-27 Nov 2015) |
| Document date: 27 Nov 15 |
|
Relevant to
|
| View full document file for more information |
| Proposal for amendments to Regulation No. 79 to include ACSF > 10 km/h |
| Reference Number: ACSF-04-20 |
|
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. |
| Meeting Sessions: 4th ACSF session (25-27 Nov 2015) |
| Document date: 10 Dec 15 |
| Document status: Superseded |
|
Relevant to
|
| View full document file for more information |
| Draft report of the ACSF on its 4th session |
| Reference Number: ACSF-04-19 |
| Meeting Sessions: 4th ACSF session (25-27 Nov 2015) |
| Document date: 14 Dec 15 |
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Relevant to
|
| View full document file for more information |