Proposed changes with regard to the implementation of technical specifications for Lane Departure Warning Systems (LDWS)

Proposed changes with regard to the implementation of technical specifications for Lane Departure Warning Systems (LDWS)

Proposal to develop regulatory provisions that would enable the approval of automated steering systems (i.e., systems that control vehicle lateral movement) that operate at speeds higher than 10 km/h. The proposal originates from discussions on lane-keeping assistance systems and on automated driving.

Updated version of the draft text under development within the ACSF informal group, based upon the previous version in document ACSF-04-20.

Presentation on paragraph 5.6.1.4 of the draft amendment to UN R79 intended to enable the approval of automatically controlled steering functions at speeds above 10 km/h. This paragraph concerns transitions between the human driver and the automated steering system.

Overview of proposed test modes/procedures for Category E automatically commanded steering systems.

Test procedure application for advanced systems of category D depending upon the steering configuration per category B (B1:hands-on with detection system steering, B2: hands-off enabled steering).

Changes proposed by Germany to the draft ACSF amendment (document ACSF-05-16)

Draft procedure for lane-guidance assistance systems (category B1 ACSF).

Proposal for new paragraphs in the draft ACSF amendment concerning provisions to ensure the system capacity to monitor and adapt to road conditions and the environment surrounding the vehicle in order to ensure safe behavior and minimize risks. This proposal replaces paragraphs in the previous document ACSF-06-28 based on the discussions of the 6th meeting and document ACSF-06-18 by OICA and CLEPA.

Proposal of provisions regarding the use of a type approval numbering system that includes information on the ACSF capabilities and software version.

Proposal to introduce technical requirements for Corrective Steering Functions (lane departure prevention, lane-keeping assistance (LKAS), steering angle correction, etc.) as defined in the regulation. The proposal offers four options to ensure appropriate approvals of LKAS and related CSF systems until such time as more precise requirements can be defined:

• Option 1 and option 2: Not to grant any type approvals for corrective steering functions until detailed technical requirements for CSF are incorporated into this Regulation.
• Option 3: Amend the definition of CSF as proposed in this document.
• Option 4: Amend the definition of corrective steering functions and to include technical requirements for LKAS as an ASCF of Category B1 as proposed in this document.

French proposal based upon the German proposal (ACSF-08-03)

Proposal of amendments to the draft proposal concerning technical requirements for automated steering functions operating at speeds up to 10 km/h and for corrective steering functions under UN R79.

Proposal of updated objectives and timelines for the work of the ACSF informal group.

Updated terms of reference for the automated steering informal group as agreed during the September 2016 GRRF session.

Presentation on trial runs of the proposed test procedures for evaluating automated steering systems under UN R79.

Presentation addressing

• 2 Step Initiation (by two deliberate actions)
• Monitoring to the rear and to the side
• Restriction to a designated infrastructure
• Hands On during lane change manouevre

Proposal to delete obsolete paragraphs and amend the target completion date for the informal group’s work from September 2017 to September 2018.

German proposal concerning performance requirements for rear and side view assistance systems defined as “a system that provides assistance to the driver in monitoring a defined area to the rear and to the side of the ACSF vehicle by the use of means (e.g. Radar, Lidar, Camera) whereby the driver remains in the full responsibility to surveil the traffic behind and beside the ACSF vehicle.”

Speadsheet tool designed to calculate time and distance requirements based upon speeds of vehicle under test and test target motorcycle under the proposed procedures for evaluating Category C[1] ACSF automated lane-change systems.

mp4 format video from the presentation on the proposal for the 03 series of amendments.

Discussion presentation especially concerning the regulation of lane-keeping systems corresponding to SAE Level 3 automation criteria (vehicle under system control with human driver as fallback).

Proposal from Germany and the Republic of Korea to resolve measurement concerns in the test requirements for ACSF of Category B1 and C. The proposal addresses issues identified in Annex 8, improves reproducibility and robustness of the procedures, fills in gaps in the test cases, and provides additional details on measuring equipment and test execution.

Comments and proposed changes to the draft text with regard to the general system classification, human driver priority, and information to the driver provisions.

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.

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).

ACSF systems in use were brought to market based on exemption approvals in the EU. These systems show a good and safe performance. Approvals according to UN R79/03 would force modifications to currently used systems without any apparent safety benefit. The current formula for the calculation of s_critical does not take the dynamic behaviour of the vehicles into account, therefore requires gaps that under some traffic conditions don’t usually occur. Since there are different ways of addressing the dynamic behaviour of the vehicles with regard to the original formula, this proposal would allow the manufacturer to specify its own formula provided the safety principle is maintained.

Proposal to permit the manufacturer to specify its own formula for the calculation of s_critical. The current formula does not take the dynamic behaviour of vehicles into account and therefore requires gaps that under some traffic conditions don’t usually occur. Since there are different ways of addressing the dynamic behaviour of the vehicles with regard to the original formula, this proposal would allow the manufacturer to specify its own formula provided the safety principle is maintained.

Proposal to prevent activation of an Automatically Commanded Steering Function of Category C for a minimum of [10] seconds after the system has verified that the road is of a valid type when merging into a roadway. The activation delay of [10] seconds prevents the system from being used during merging from the motorway’s acceleration lane. According to the proposal, the merging process during the acceleration phase is not fully suitable for an automated lane change due to, among other things, the vehicle dynamics and the limited space available. In addition, the delay shifts the driver’s notification of the automatic activation of the ACSF-C system to a time when the vehicle is already in a stable driving condition on the motorway and the driver’s attentional resources are more available to receive the notification. A manual activation of the system remains possible.

Proposal to delineate the scope of UN R79 vis-à-vis the draft new UN Regulation on Driver Control Assistance Systems (DCAS).

Document GRVA-17-49 from the September 2023 GRVA session.

Copy of document GRVA-17-49.

Proposal to differentiate between the scope of UN R79 and the proposed UN Regulation on Driver Control Assistance Systems (DCAS).

Proposal to ensure that vehicles exhibiting functionality meeting the definition of ACSF-B2 or -E are required to comply with the 01 series of R171 (or later). The 01 series added the necessary technical requirements to ensure the safety of features that allow ‘hands-free’ operation or perform system-initiated manoeuvres.

Proposal to ensure that vehicles exhibiting functionality meeting the definition of ACSF-B2 or -E are required to comply with the correct series of R171.