Proposal to

1. correct numbering of paragraph 2.3.4.18.
2. limit the initial scope to M₁ and N₁ vehicles
3. further modify the numbering to clarify that remote-controlled maneuvering (RCM) is not a form of ACSF
4. clarify that all RCM are subject to the requirements of the Electronics Annex (Annex 6 to UN R79).

Proposal to ensure that the safety approach for complex electronics of remote controlled maneuvering addresses malfunctions, non-fault errors, and misuse.

Proposal for amendments to the requirements for Automatically Commanded Steering Functions (ACSF) of Category C, introducing specific provisions for the use of a lane change function with a two-step Human Machine Interface (HMI).

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.

Request to extend the ACSF mandate a further 12 months.

Outcomes from the discussion of the proposal from France to clarify requirements of the optical signal for a CSF intervention to ensure sufficient flashing tell-tale visibility for the driver, to specify the duration of such ACSF signals, to ensure a safe hierarchy of signals (e.g., ESF over CSF) by priority, to clarify that deactivation when departing an ODD means the “off mode”, and to add a cross-reference pointing to paragraphs that define cases of manual and automatic deactivation.