Proposal concerning assessment of ACSF Category B1 lane keeping systems. Under Annex 8, proposal to delete the warning-to-deactivation cascade testing at high speed because the capability is already demonstrated under the low-speed test and the high-speed variation effectively requires a test track length of more than two kilometers. The proposal would also clarify paragraph 5.6.2.3.1. regarding the use of inputs other than lane markings where lane markings are not present.

Proposal for modifications to draft tolerances in the testing of ACSF B1 and C systems with regard to lane width, coordinate system, lateral acceleration, and overriding-force test.

Updated remote-controlled maneuvering proposal with editorial Improvements, clarification that the actuator of the function is to be included as part of the assessment along with the hardware and software on the vehicle, and to add requirements on the security of the connection between the remote-control device and the vehicle.

Changes to the 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.

Proposal to allow the use of a haptic signal as an alternative to the current requirement for an acoustic signal for the corrective steering function, provided the vehicle is equipped with a lane-departure warning system approved under UN R130. The proposal also introduces a requirement that the haptic warning must extend beyond the steering wheel (e.g., the signal would also include the driver’s seat) in order to address misuse (i.e., hands off the steering wheel use).

Proposal to modify lateral acceleration values for Automatically Commanded Steering Functions (ACSF) of Category B1 (e.g., SAE L2 lane-keeping) and to allow the vehicle under test to change speeds in order to meet maximum lateral acceleration values when navigating curves.

Proposal to allow for higher lateral acceleration limits for Automatically Commanded Steering Functions (ACSF) in executing lane changes. The proposal modifies acceleration limits in the original proposal (GRVA/2019/27) and focuses on the timing for lane changes (e.g., 15-second total duration).

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.

Text approved by GRVA consolidating input from stakeholders and agreed changes to the original proposal (GRVA/2019/19) for submission to WP.29 at its March 2020 session. The proposal amends 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:

• 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,
• sampling rate of at least 100 Hz for dynamic testing,
• specification of filters and cut-off frequency for determination of lateral acceleration,
• option to measure “overriding force” torque via an internal sensor or an external device (e.g., steering robot).

Presentation on Tesla experience with hands-on lane-keeping and automated lane-change systems, especially with regard to lateral acceleration and distance limits under UN R79.

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).

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

Discussion of lateral acceleration values for Automatically Commanded Steering Functions (ACSF) of Category B1 (e.g., SAE L2 lane-keeping) and proposal to allow the vehicle under test to change speeds in order to meet maximum lateral acceleration values when navigating curves.

Proposal to allow for higher lateral acceleration limits for Automatically Commanded Steering Functions (ACSF) in executing lane changes.

Proposal to supplement paragraph 5.6.4.6.7. with additional requirements regarding lane-change driver actions that should allow for a more intuitive user experience while limiting a significant risk of mode confusion.