Presentation to support Japan’s view that new regulations should be developed to establish technical requirements for Lane-Keeping Assistance Systems (LKAS) and Parking Assistance Systems (PAS) together with possible amendment of UN R79 which defines Advanced Driver Assistance Steering Systems.

Japanese perspectives on selected regulations (NU R4, 34, 46, and 79) within the context of adoption of the International Whole Vehicle Type Approval system/regulation.

Proposal to establish an expert group with a mandate to prepare new harmonized regulations for lane-keeping and parking-assist systems.

Submission from Japan further elaborating on the scope of its proposal for a new regulation for the approval of lane-keeping assist steering systems.

Presentation providing accident data to support the Japanese proposal for a new regulation to govern approvals of lane-keep assist steering systems (LKAS).

Presentation to further discussions on Japan’s proposal to establish a new UN Regulation on lane-keeping assistance systems.

Joint invitation by Sweden and Japan to an ad hoc meeting to discuss the possibility of amendment Regulation No. 79 to introduce provisions of lane-keeping assistance and other corrective steering systems.

Proposals for LKAS regulatory provisions.

Presentation on the objectives and considerations behind the proposal to establish technical requirements for lane-keeping assist systems.

Proposal to introduce lane-keeping assistance systems into the regulation. This document incorporates the agreed-upon definitions presented in document GRRF-78-05.

Proposal to introduce general performance guidelines into the annex on automated driver assistance systems in order to set initial safety considerations to guide the commercialization of this emerging technology.

Revised proposal to introduce a definition and provisions for lane-keeping assist systems (LKAS) into UN R79.

Proposal for modifications to document ACSF-03-03 to enable the type approval of automated steering functions operating at speeds greater than 10 km/h.

Proposal for modifications to document ACSF-02-03 submitted by Germany to enable the type approval of automated steering functions at speeds greater than 10 km/h.

Presentation of results from Japan’s NTSEL research into the time required for the driver to transition from automated to manual steering modes and on driver/vehicle behavior throughout the transition period under various traffic scenarios.

Proposal to consider a transition time between 2 and 4 seconds according to other variables (straight lane, curve, collision-imminent, lane change, etc.)

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

Schematic flow of events and responses for automatically commanded steering functions, including transition demands and fall-back on minimum risk maneuvers by the system.

Table of requirements for automatically commanded steering function capabilities (e.g., hazard warning activation, driver alerts, minimum risk maneuvers, etc.) according the ACSF category.

Updated list of functions/capabilities per ACSF category, including B1 and B2 categories addressing “hands-on” and “hands-off” lane-keeping.

NTSEL study into the effect of automated steering on the level of driver alertness. The data suggests an increase in drowsiness as measured by blinking/eyelid closing rates.

Breakdown of the requirements of the draft consolidated amendment (ACSF-06-28) for each category of ACSF.

Table of ACSF categories as defined by functions and requirements of the draft amendment to UN R79.

Consideration of the borderline in distinguishing between corrective steering functions and automatically commanded steering functions towards defining requirements for the approval of automated steering systems.

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.

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 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.

Proposal of 2.5 seconds for return to original lane after aborted lane change with 48.6-meter rearward sensing range (34.7-meter minimum distance for 2.5 seconds plus one second safety margin).

Discussion of requirements for minimum distance from approaching vehicles for a safe automated lane-change maneuver.

Japanese proposal for false positive testing of automated emergency steering systems.

Diagrams to illustrate Japan’s proposal (ACSF-13-13) for false-positive testing of emergency steering functions.

Proposal to allow adaptation of speed and distance calculations in accordance with national speed limits since some nations enforce maximum speed limits below the 130 km/h used as the basis for the proposals on automated lane-change systems. Japan expects to refine the proposal in order to address mutual recognition concerns inherent in such recourse to national requirements. Japan further proposes clarification of the approaching vehicle (motorcycle) test target pending development of uniform test target specifications.

Proposals concerning the draft amendment to introduce emergency steering and automated lane-change functions into UN R79. Document GRRF-84-36 has been formalized as document GRRF/2017/27 for consideration during the special 85th GRRF scheduled to finalize a proposal for automated lane-change systems.

Japan comments on the changes agreed by the informal group of experts which reviewed the content of Annex 6 and proposed (via document GRRF-85-1/Rev.1) to clarify the purpose of Annex 6 and ensure its suitability when used in the assessment of steering systems featuring advances in automation (i.e., ACSF). The proposal

1. corrects an editorial error by inserting a missing clause in paragraph 1, and
2. deletes the phrase “at least 10%” from paragraph 4.1.1. which changes the current meaning of text with regard to assessment of “the System”
   • Japanese technical services already verify each declared function by the manufacturer under the paragraph,
   • The wording “at least 10%” may result in a decrease in the number of tests where Japan believes number of tests should be decided by the Technical service considering which tests should apply.

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 correct a reference to paragraph 3.6.1.1.3. that should read 5.6.1.1.3. and to correct a misspelling.