Proposal to allow a grace time in order to deal with unexpected changes in the radius of the curvature of a bend by permitting the system to exceed the ay_smax limit of 3 m/s² by a maximum of 40 per cent for up to two seconds.

Proposal to clarify that a continuation of support by a Category B1 ACSF after its boundary conditions have been exceeded may not be possible under conditions as outlined in the manufacturer’s safety concept.

Proposal to

1. Align lane-centering provisions with principles applied to UN R157 (ALKS)
2. Permit Category C ACSF to remain in stand-by during temporary roadway transitions
3. Clarify overriding provision (para. 5.6.4.3) reference to stand-by mode
4. Introduce a tolerance factor for “critical situation” lane changes
5. clarification to test conditions
6. Align direction indicator deactivation under a pass conditions with previously adopted provisions.

Proposal to allow up to seven seconds to start and perform a lane change.

Proposal to introduce provisions for truck/trailer data transmission for Category C ACSF.

Proposal to allow continuous movement of the driver as an alternative to the continuous actuation of the remote-control device as a means to assure driver attentiveness.

Proposal to introduce a Risk Mitigation Function designed to bring a vehicle to a safe stop in the event of fallback driver unavailability.