Session 7 | Web conference | 21-25 Sep 2020
4. (d) UN Regulation on Automated Lane Keeping Systems

GRVA may wish to consider a proposal for amendments to the UN Regulation on Automated Lane Keeping Systems (ALKS), tabled by the expert from Germany, aimed at raising the specified maximum speed up to 130 km/h.

GRVA-07-27 | UN R157: Proposal for amendments to document GRVA/2020/32 Proposal to address risks related to activities other than driving and to clarify that a declaration of a maximum operational speed that exceeds 60 km/h is possible, but not required.
GRVA-07-56 | UN R157: Proposal for amendments to documents GRVA/2020/32 and GRVA/2020/33
GRVA-07-63 | UN R157: Supporting presentation concerning amendments on speed range and lane-change functionality
GRVA/2020/32 | ALKS: Proposal for amendment Proposal to amend the ALKS UN Regulation provisions to enable approval of systems operating at speeds up to 130 km/h.

GRVA may wish to consider a proposal for amendments to the UN Regulation on ALKS, tabled by the expert from Germany, inserting additional requirements for a lane change functionality.

GRVA-07-28 | UN R157: Proposal for amendments to document GRVA/2020/33 Proposal to amend the proposal from Germany regarding lane-change functionality:<ol class="alpha"><li>paragraph 5.2.1. – lane keeping</li><li>paragraph 5.2.6.1. - risk to safety of the vehicle occupants and other road users</li><li>paragraphs 5.2.6.2. and 5.2.6.3. – preconditions for a lane change procedure</li><li>paragraph 5.2.6.5. – timing of a lane change maneuver</li><li>paragraph 5.2.6.6. and its sub-paragraphs – criticality of a lane change maneuver</li><li>paragraph 7.1.3. – rear detection range</li><li>Annex 5. – test cases for rear detection range, lane change.</li></ol>
GRVA-07-45 | UN R157: Proposal for amendments to document GRVA/2020/33
GRVA-07-56 | UN R157: Proposal for amendments to documents GRVA/2020/32 and GRVA/2020/33
GRVA-07-62 | UN R157: Proposal for amendments to document GRVA/2020/33
GRVA-07-63 | UN R157: Supporting presentation concerning amendments on speed range and lane-change functionality
GRVA-07-66 | UN R157: Proposal for amendments to document GRVA/2020/33
GRVA/2020/33 | ALKS: Proposal for an amendment Proposal to introduce additional requirements for a lane change functionality.

GRVA may wish to consider a proposal from the European Commission and Russia for improvements to the text.

GRVA-07-06 | UN R157: Proposal for a Supplement Proposal to improve the text with editorial clarifications and restructuring.
GRVA-07-59 | UN R157: Comments on document GRVA-07-06
GRVA-07-69/Rev.1 | UN R157: Proposal for amendments This document was produced during an informal meeting (on 23 September 2020) of interested experts who reviewed the ALKS-related documents presented at GRVA on 24 September 2020.

GRVA may wish to consider additional submissions regarding UN R157 on automated lane-keeping systems.

GRVA-07-07 | UN R157: Gaps identified in the regulation Presentation raising concerns over discrepancies and risks of misinterpretation in the application of the regulation by technical services.
GRVA-07-21 | UN R157: Proposal for clarifications Proposal to clarify the text with regard to:<ol class="alpha"><li>paragraph 2.6., Definition of an imminent collision</li><li>paragraphs 5.1.9 and 7.1.4., Lifetime of the system</li><li>paragraph 5.2.3.3., Traffic Rules and Safety Distance to the front</li><li>paragraph 5.2.5.2. – “anticipated TTC” in cut-in scenario</li><li>paragraph 6.2.5.1., Deactivation by input to driving controls</li><li>paragraph 6.2.6., Transition to assisted driving</li><li>paragraph 6.4.4., Examples of information to the driver</li><li>Annex 5 – Tests<ul><li>Section 5.1. contains physical tests that have to be performed at the time of type approval</li><li>Section 5.2. aims to confirm at the time of type approval, that the system complies with the corresponding provisions of the main text. This confirmation shall be done by at least one physical test per provision, if possible due to the nature of the provision, and may be supported by further evidence.</li><li>Section 5.3. is a collection of additional scenarios, that the ALKS could encounter. Whether they are relevant to the ALKS depends on its ODD. So either the manufacturer explains why his system will not need to handle these scenarios, or has to explain the behaviour of the ALKS. </li><li>larify the content of par. 5.2. by rewording the provisions similar to that of the core text.</li></ul></li></ol>
GRVA-07-26 | UN R157: Scope extension for commercial vehicles and buses
GRVA-07-30 | UN R157: Proposal for editorial corrections The proposal aims to correct 5 types of inconsistencies:<ol class="alpha"><li>The reference to Annex 4 is repeated in each sub-paragraph and should instead be stated once in each paragraph. </li><li>Acronyms are used inconsistently. Proposal to use them consistently throughout similar to UN-R79, e.g. Emergency Manoeuvre (EM), and when used in the text as “emergency manoeuvre”</li><li>Each sub-paragraph has a heading, this helps understand the structure and should be carried over to par. 8.1., 9.1. and 9.2. as well, the wording for the heading of par. 9.1. and 9.2. are derived from UN-R155 and UN-R156 respectively.</li><li>Consistent use of term throughout, e.g. R<sub>157</sub>SWIN without blank, Cyber Security as two words as used in UN-R155</li><li>Editorial corrections, e.g. missing paragraph numbers, missing full stop in the paragraph number.</li></ol>
GRVA-07-31 | UN R157: Proposal for amendments - Scope extension Proposal to include all vehicle categories M and N in the scope of UN R157.
GRVA-07-39 | UN R157: Request for interpretation regarding approaching emergency vehicles
GRVA/2020/32 | ALKS: Proposal for amendment Proposal to amend the ALKS UN Regulation provisions to enable approval of systems operating at speeds up to 130 km/h.
GRVA/2020/33 | ALKS: Proposal for an amendment Proposal to introduce additional requirements for a lane change functionality.
GRVA-07-06 | UN R157: Proposal for a Supplement Proposal to improve the text with editorial clarifications and restructuring.
GRVA-07-07 | UN R157: Gaps identified in the regulation Presentation raising concerns over discrepancies and risks of misinterpretation in the application of the regulation by technical services.
GRVA-07-21 | UN R157: Proposal for clarifications Proposal to clarify the text with regard to:<ol class="alpha"><li>paragraph 2.6., Definition of an imminent collision</li><li>paragraphs 5.1.9 and 7.1.4., Lifetime of the system</li><li>paragraph 5.2.3.3., Traffic Rules and Safety Distance to the front</li><li>paragraph 5.2.5.2. – “anticipated TTC” in cut-in scenario</li><li>paragraph 6.2.5.1., Deactivation by input to driving controls</li><li>paragraph 6.2.6., Transition to assisted driving</li><li>paragraph 6.4.4., Examples of information to the driver</li><li>Annex 5 – Tests<ul><li>Section 5.1. contains physical tests that have to be performed at the time of type approval</li><li>Section 5.2. aims to confirm at the time of type approval, that the system complies with the corresponding provisions of the main text. This confirmation shall be done by at least one physical test per provision, if possible due to the nature of the provision, and may be supported by further evidence.</li><li>Section 5.3. is a collection of additional scenarios, that the ALKS could encounter. Whether they are relevant to the ALKS depends on its ODD. So either the manufacturer explains why his system will not need to handle these scenarios, or has to explain the behaviour of the ALKS. </li><li>larify the content of par. 5.2. by rewording the provisions similar to that of the core text.</li></ul></li></ol>
GRVA-07-26 | UN R157: Scope extension for commercial vehicles and buses
GRVA-07-27 | UN R157: Proposal for amendments to document GRVA/2020/32 Proposal to address risks related to activities other than driving and to clarify that a declaration of a maximum operational speed that exceeds 60 km/h is possible, but not required.
GRVA-07-28 | UN R157: Proposal for amendments to document GRVA/2020/33 Proposal to amend the proposal from Germany regarding lane-change functionality:<ol class="alpha"><li>paragraph 5.2.1. – lane keeping</li><li>paragraph 5.2.6.1. - risk to safety of the vehicle occupants and other road users</li><li>paragraphs 5.2.6.2. and 5.2.6.3. – preconditions for a lane change procedure</li><li>paragraph 5.2.6.5. – timing of a lane change maneuver</li><li>paragraph 5.2.6.6. and its sub-paragraphs – criticality of a lane change maneuver</li><li>paragraph 7.1.3. – rear detection range</li><li>Annex 5. – test cases for rear detection range, lane change.</li></ol>
GRVA-07-30 | UN R157: Proposal for editorial corrections The proposal aims to correct 5 types of inconsistencies:<ol class="alpha"><li>The reference to Annex 4 is repeated in each sub-paragraph and should instead be stated once in each paragraph. </li><li>Acronyms are used inconsistently. Proposal to use them consistently throughout similar to UN-R79, e.g. Emergency Manoeuvre (EM), and when used in the text as “emergency manoeuvre”</li><li>Each sub-paragraph has a heading, this helps understand the structure and should be carried over to par. 8.1., 9.1. and 9.2. as well, the wording for the heading of par. 9.1. and 9.2. are derived from UN-R155 and UN-R156 respectively.</li><li>Consistent use of term throughout, e.g. R<sub>157</sub>SWIN without blank, Cyber Security as two words as used in UN-R155</li><li>Editorial corrections, e.g. missing paragraph numbers, missing full stop in the paragraph number.</li></ol>
GRVA-07-31 | UN R157: Proposal for amendments - Scope extension Proposal to include all vehicle categories M and N in the scope of UN R157.
GRVA-07-39 | UN R157: Request for interpretation regarding approaching emergency vehicles
GRVA-07-45 | UN R157: Proposal for amendments to document GRVA/2020/33
GRVA-07-56 | UN R157: Proposal for amendments to documents GRVA/2020/32 and GRVA/2020/33
GRVA-07-59 | UN R157: Comments on document GRVA-07-06
GRVA-07-62 | UN R157: Proposal for amendments to document GRVA/2020/33
GRVA-07-63 | UN R157: Supporting presentation concerning amendments on speed range and lane-change functionality
GRVA-07-66 | UN R157: Proposal for amendments to document GRVA/2020/33
GRVA-07-69/Rev.1 | UN R157: Proposal for amendments This document was produced during an informal meeting (on 23 September 2020) of interested experts who reviewed the ALKS-related documents presented at GRVA on 24 September 2020.
GRVA-07-06
UN R157: Proposal for a Supplement (Russia and EC)
16 Sep 2020 Working Party Informal Documents Automated Lane-Keeping Systems (ALKS) Automated Lane-Keeping Systems Uniform provisions concerning the approval of vehicles with regards to Automated Lane Keeping System Proposal to improve the text with editorial clarifications and restructuring. GRVA-07-0006
GRVA-07-07
UN R157: Gaps identified in the regulation (NAMI)
16 Sep 2020 Working Party Informal Documents Automated Lane-Keeping Systems (ALKS) Automated Lane-Keeping Systems Uniform provisions concerning the approval of vehicles with regards to Automated Lane Keeping System Presentation raising concerns over discrepancies and risks of misinterpretation in the application of the regulation by technical services. GRVA-07-0007
GRVA-07-21
UN R157: Proposal for clarifications (CLEPA and OICA)
17 Sep 2020 Working Party Informal Documents Automated Lane-Keeping Systems (ALKS) Automated Lane-Keeping Systems Uniform provisions concerning the approval of vehicles with regards to Automated Lane Keeping System Proposal to clarify the text with regard to:<ol class="alpha"><li>paragraph 2.6., Definition of an imminent collision</li><li>paragraphs 5.1.9 and 7.1.4., Lifetime of the system</li><li>paragraph 5.2.3.3., Traffic Rules and Safety Distance to the front</li><li>paragraph 5.2.5.2. – “anticipated TTC” in cut-in scenario</li><li>paragraph 6.2.5.1., Deactivation by input to driving controls</li><li>paragraph 6.2.6., Transition to assisted driving</li><li>paragraph 6.4.4., Examples of information to the driver</li><li>Annex 5 – Tests<ul><li>Section 5.1. contains physical tests that have to be performed at the time of type approval</li><li>Section 5.2. aims to confirm at the time of type approval, that the system complies with the corresponding provisions of the main text. This confirmation shall be done by at least one physical test per provision, if possible due to the nature of the provision, and may be supported by further evidence.</li><li>Section 5.3. is a collection of additional scenarios, that the ALKS could encounter. Whether they are relevant to the ALKS depends on its ODD. So either the manufacturer explains why his system will not need to handle these scenarios, or has to explain the behaviour of the ALKS. </li><li>larify the content of par. 5.2. by rewording the provisions similar to that of the core text.</li></ul></li></ol> GRVA-07-0021
GRVA-07-26
UN R157: Scope extension for commercial vehicles and buses (CLEPA and OICA)
17 Sep 2020 Working Party Informal Documents Automated Lane-Keeping Systems (ALKS) Automated Lane-Keeping Systems Uniform provisions concerning the approval of vehicles with regards to Automated Lane Keeping System GRVA-07-0026
GRVA-07-27
UN R157: Proposal for amendments to document GRVA/2020/32 (CLEPA and OICA)
17 Sep 2020 Working Party Informal Documents Automated Lane-Keeping Systems (ALKS) Automated Lane-Keeping Systems Uniform provisions concerning the approval of vehicles with regards to Automated Lane Keeping System Proposal to address risks related to activities other than driving and to clarify that a declaration of a maximum operational speed that exceeds 60 km/h is possible, but not required. GRVA-07-0027
GRVA-07-28
UN R157: Proposal for amendments to document GRVA/2020/33 (CLEPA and OICA)
18 Sep 2020 Working Party Informal Documents Automated Lane-Keeping Systems (ALKS) Automated Lane-Keeping Systems Uniform provisions concerning the approval of vehicles with regards to Automated Lane Keeping System Proposal to amend the proposal from Germany regarding lane-change functionality:<ol class="alpha"><li>paragraph 5.2.1. – lane keeping</li><li>paragraph 5.2.6.1. - risk to safety of the vehicle occupants and other road users</li><li>paragraphs 5.2.6.2. and 5.2.6.3. – preconditions for a lane change procedure</li><li>paragraph 5.2.6.5. – timing of a lane change maneuver</li><li>paragraph 5.2.6.6. and its sub-paragraphs – criticality of a lane change maneuver</li><li>paragraph 7.1.3. – rear detection range</li><li>Annex 5. – test cases for rear detection range, lane change.</li></ol> GRVA-07-0028
GRVA-07-30
UN R157: Proposal for editorial corrections (CLEPA and OICA)
18 Sep 2020 Working Party Informal Documents Automated Lane-Keeping Systems (ALKS) Automated Lane-Keeping Systems Uniform provisions concerning the approval of vehicles with regards to Automated Lane Keeping System The proposal aims to correct 5 types of inconsistencies:<ol class="alpha"><li>The reference to Annex 4 is repeated in each sub-paragraph and should instead be stated once in each paragraph. </li><li>Acronyms are used inconsistently. Proposal to use them consistently throughout similar to UN-R79, e.g. Emergency Manoeuvre (EM), and when used in the text as “emergency manoeuvre”</li><li>Each sub-paragraph has a heading, this helps understand the structure and should be carried over to par. 8.1., 9.1. and 9.2. as well, the wording for the heading of par. 9.1. and 9.2. are derived from UN-R155 and UN-R156 respectively.</li><li>Consistent use of term throughout, e.g. R<sub>157</sub>SWIN without blank, Cyber Security as two words as used in UN-R155</li><li>Editorial corrections, e.g. missing paragraph numbers, missing full stop in the paragraph number.</li></ol> GRVA-07-0030
GRVA-07-31
UN R157: Proposal for amendments - Scope extension (CLEPA and OICA)
18 Sep 2020 Working Party Informal Documents Automated Lane-Keeping Systems (ALKS) Automated Lane-Keeping Systems Uniform provisions concerning the approval of vehicles with regards to Automated Lane Keeping System Proposal to include all vehicle categories M and N in the scope of UN R157. GRVA-07-0031
GRVA-07-32
UN R157: Proposal for amendments (CLEPA and OICA)
18 Sep 2020 Working Party Informal Documents Automated Lane-Keeping Systems (ALKS) Automated Lane-Keeping Systems Uniform provisions concerning the approval of vehicles with regards to Automated Lane Keeping System The intention of the proposed amendment is to clarify the existing text on continued support of an ACSF B1 if the boundary conditions are exceeded. GRVA-07-0032
GRVA-07-37
Proposal for amendments to UN R156 and UN R157 (France)
19 Sep 2020 Working Party Informal Documents Automated Lane-Keeping Systems (ALKS) Automated Lane-Keeping Systems Uniform provisions concerning the approval of vehicles with regards to Automated Lane Keeping System Software Update Processes and Management Systems SW Updates Uniform provisions concerning the approval of vehicles with regards to software update and software update management system Under the initial ALKS regulation and its reference to the new cyber security requlation, manufacturers are permitted to use an alternative software identification system instead of the proposed RxSWIN format. This proposal seeks to clarify the use of such alternative identifications in the approval process. GRVA-07-0037
GRVA-07-39
UN R157: Request for interpretation regarding approaching emergency vehicles (France)
20 Sep 2020 Working Party Informal Documents Automated Lane-Keeping Systems (ALKS) Automated Lane-Keeping Systems Uniform provisions concerning the approval of vehicles with regards to Automated Lane Keeping System GRVA-07-0039
GRVA-07-45
UN R157: Proposal for amendments to document GRVA/2020/33 (Korea)
20 Sep 2020 Working Party Informal Documents Automated Lane-Keeping Systems (ALKS) Automated Lane-Keeping Systems Uniform provisions concerning the approval of vehicles with regards to Automated Lane Keeping System GRVA-07-0045
GRVA-07-56
UN R157: Proposal for amendments to documents GRVA/2020/32 and GRVA/2020/33 (EC)
22 Sep 2020 Working Party Informal Documents Automated Lane-Keeping Systems (ALKS) Automated Lane-Keeping Systems Uniform provisions concerning the approval of vehicles with regards to Automated Lane Keeping System GRVA-07-0056
GRVA-07-59
UN R157: Comments on document GRVA-07-06 (OICA)
22 Sep 2020 Working Party Informal Documents Automated Lane-Keeping Systems (ALKS) Automated Lane-Keeping Systems Uniform provisions concerning the approval of vehicles with regards to Automated Lane Keeping System GRVA-07-0059
GRVA-07-62
UN R157: Proposal for amendments to document GRVA/2020/33 (UK)
22 Sep 2020 Working Party Informal Documents Automated Lane-Keeping Systems (ALKS) Automated Lane-Keeping Systems Uniform provisions concerning the approval of vehicles with regards to Automated Lane Keeping System GRVA-07-0062
GRVA-07-63
UN R157: Supporting presentation concerning amendments on speed range and lane-change functionality (Germany)
22 Sep 2020 Working Party Informal Documents Automated Lane-Keeping Systems (ALKS) Automated Lane-Keeping Systems Uniform provisions concerning the approval of vehicles with regards to Automated Lane Keeping System GRVA-07-0063
GRVA-07-66
UN R157: Proposal for amendments to document GRVA/2020/33 (CLEPA and OICA)
23 Sep 2020 Working Party Informal Documents Automated Lane-Keeping Systems (ALKS) Automated Lane-Keeping Systems Uniform provisions concerning the approval of vehicles with regards to Automated Lane Keeping System GRVA-07-0066
GRVA-07-69/Rev.1
UN R157: Proposal for amendments (CLEPA and OICA)
24 Sep 2020 Working Party Informal Documents Automated Lane-Keeping Systems (ALKS) Automated Lane-Keeping Systems Uniform provisions concerning the approval of vehicles with regards to Automated Lane Keeping System This document was produced during an informal meeting (on 23 September 2020) of interested experts who reviewed the ALKS-related documents presented at GRVA on 24 September 2020. GRVA-07-0069/Rev.1
GRVA-07-76
GRVA: List of decisions taken during the 7th (September 2020) session under the silence procedure
03 Oct 2020 Working Party Informal Documents Heavy-Duty Vehicle Braking Heavy-Duty Braking Uniform Provisions Concerning the Approval of Vehicles of Categories M, N and O with regard to Braking Light-Duty Vehicle Braking Light Vehicle Braking Uniform Provisions Concerning the Approval of Passenger Cars with regard to Braking Steering Equipment Steering Equipment Uniform Provisions Concerning the Approval of Vehicles with regard to Steering Equipment Advanced Emergency Braking Systems Advanced Emergency Braking Uniform provisions concerning the approval of motor vehicles with regard to advanced emergency braking systems Automatic Emergency Braking for M1/N1 vehicles Light Vehicle AEBS Uniform provisions concerning the approval of motor vehicles with regard to the Advanced Emergency Braking System (AEBS) for M<sub>1</sub> and N<sub>1</sub> vehicles Cyber Security and Cyber Security Management Cybersecurity Uniform provisions concerning the approval of vehicles with regards to cyber security and cyber security management system Software Update Processes and Management Systems SW Updates Uniform provisions concerning the approval of vehicles with regards to software update and software update management system Automated Lane-Keeping Systems (ALKS) Automated Lane-Keeping Systems Uniform provisions concerning the approval of vehicles with regards to Automated Lane Keeping System Automated Driving Systems Automated Driving Intelligent Transport Systems ITS GRVA-07-0076
GRVA/2020/32
ALKS: Proposal for amendment (Germany)
15 Jul 2020 Working Party Formal Documents Automated Lane-Keeping Systems (ALKS) Automated Lane-Keeping Systems Uniform provisions concerning the approval of vehicles with regards to Automated Lane Keeping System Proposal to amend the ALKS UN Regulation provisions to enable approval of systems operating at speeds up to 130 km/h. GRVA/2020/0032
GRVA/2020/33
ALKS: Proposal for an amendment (Germany)
15 Jul 2020 Working Party Formal Documents Automated Lane-Keeping Systems (ALKS) Automated Lane-Keeping Systems Uniform provisions concerning the approval of vehicles with regards to Automated Lane Keeping System Proposal to introduce additional requirements for a lane change functionality. GRVA/2020/0033