This document aims at providing a better understanding of possible operational restrictions and capacity to safely transfer control back to the driver of a Category B2 ACSF (L3 Automated Lane-Keeping System). It contains examples of different possible detection and coping strategies.

Proposal for the draft regulation on automated lane-keeping systems address the following sections:
2.6. Driver Availability Recognition
2.7. Transition Demand and System Operation during Transition phase
2.8. Information to the driver
2.9. Minimal Risk Manoeuvre
2.10. Emergency Manoeuvre

Matrix of criteria for determining that driver actions signal control over the vehicle and intent to take over from the automated system.

Initial outline and elements for development into a new UN Regulation for data and event recording systems for L3-5 automated vehicles.

Proposals to clarify provisions for collision avoidance in a cut-in scenario, collision avoidance with regard to crossing pedestrians, on “other activities than driving”, and on “permanent visibility” of the means for the driver to activate and deactivate the system.

Proposal to clarify the text with regard to:

1. paragraph 2.6., Definition of an imminent collision
2. paragraphs 5.1.9 and 7.1.4., Lifetime of the system
3. paragraph 5.2.3.3., Traffic Rules and Safety Distance to the front
4. paragraph 5.2.5.2. – “anticipated TTC” in cut-in scenario
5. paragraph 6.2.5.1., Deactivation by input to driving controls
6. paragraph 6.2.6., Transition to assisted driving
7. paragraph 6.4.4., Examples of information to the driver
8. Annex 5 – Tests
   • Section 5.1. contains physical tests that have to be performed at the time of type approval
   • 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.
   • 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.
   • larify the content of par. 5.2. by rewording the provisions similar to that of the core text.

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.

Proposal to amend the proposal from Germany regarding lane-change functionality:

1. paragraph 5.2.1. – lane keeping
2. paragraph 5.2.6.1. – risk to safety of the vehicle occupants and other road users
3. paragraphs 5.2.6.2. and 5.2.6.3. – preconditions for a lane change procedure
4. paragraph 5.2.6.5. – timing of a lane change maneuver
5. paragraph 5.2.6.6. and its sub-paragraphs – criticality of a lane change maneuver
6. paragraph 7.1.3. – rear detection range
7. Annex 5. – test cases for rear detection range, lane change.

The proposal aims to correct 5 types of inconsistencies:

1. The reference to Annex 4 is repeated in each sub-paragraph and should instead be stated once in each paragraph.
2. 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”
3. 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.
4. Consistent use of term throughout, e.g. R₁₅₇SWIN without blank, Cyber Security as two words as used in UN-R155
5. Editorial corrections, e.g. missing paragraph numbers, missing full stop in the paragraph number.

Proposal to include all vehicle categories M and N in the scope of UN R157.

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.

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.

Given that UN R94, 95 and 137 refer only to vehicle categories M₁ and N_{1</, the proposal would add references to UN R29 and 66 to specify an impact severity level for heavier vehicle categories for data retrieval performance limits.}

Proposal for editorial improvements for clarity and consistency across regulations.

Proposal to clarify the wording on "“initiation of each engine start/run cycle” relative to automatic re-instatement of the AEBS default status.