6. (a) Automatically Commanded Steering Function
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33. The expert from France introduced ECE/TRANS/WP.29/GRVA/2019/19 proposing amendments to UN Regulation No.79 based on experience gathered by France, Germany and the Republic of Korea since the entry into force of the 03 series. The proposal received comments (see GRVA-04-09, GRVA-04-46). GRVA adopted the proposal as amended (GRVA-04-47) as reproduced in Annex III, as supplement to the 03 series of amendments to UN Regulation No.79 and requested the secretariat to submit it to WP.29 and AC.1, for consideration and vote at their March 2020 sessions.
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GRVA/2019/19 | UN R79: Proposal for Supplement 2 to 03 series of amendments
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UN R79: Proposal for Supplement 2 to 03 series of amendments
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Reference Number: GRVA/2019/19
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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: - 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,
- sampling rate of at least 100 Hz for dynamic testing,
- specification of filters and cut-off frequency for determination of lateral acceleration,
- option to measure “overriding force” torque via an internal sensor or an external device (e.g., steering robot).
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Submitted by: France, Germany, Japan, and Korea
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Meeting Sessions: 4th GRVA session (24-27
Sep 2019)
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Document date: 10 Jul 19
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Document status: Superseded
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Relevant to
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View full document file for more information
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GRVA-04-09 | UN R79: Proposal for amendments to document GRVA/2019/19
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UN R79: Proposal for amendments to document GRVA/2019/19
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Reference Number: GRVA-04-09
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Proposal for modifications to draft tolerances in the testing of ACSF B1 and C systems with regard to lane width, coordinate system, lateral acceleration, and overriding-force test.
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Submitted by: CLEPA and OICA
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Meeting Sessions: 4th GRVA session (24-27
Sep 2019)
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Document date: 20 Sep 19
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Document status: Superseded
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Relevant to
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View full document file for more information
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GRVA-04-47 | UN R79: Consolidated proposal for amendments to document GRVA/2019/19
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UN R79: Consolidated proposal for amendments to document GRVA/2019/19
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Reference Number: GRVA-04-47
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Text approved by GRVA consolidating input from stakeholders and agreed changes to the original proposal (GRVA/2019/19) for submission to WP.29 at its March 2020 session. The proposal amends 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: - 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,
- sampling rate of at least 100 Hz for dynamic testing,
- specification of filters and cut-off frequency for determination of lateral acceleration,
- option to measure “overriding force” torque via an internal sensor or an external device (e.g., steering robot).
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Meeting Sessions: 4th GRVA session (24-27
Sep 2019)
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Document date: 27 Sep 19
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Document status: Superseded
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Relevant to
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View full document file for more information
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GRVA-04-46 | UN R79: Proposal for amendments to document GRVA/2019/19
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34. The expert from AVERA presented GRVA-04-53, introducing ECE/TRANS/WP.29/GRVA/2019/26, ECE/TRANS/WP.29/GRVA/2019/27 and ECE/TRANS/WP.29/GRVA/2019/28. The presentation contained videos, simulations and fleet data supporting the proposals for amendments to UN Regulation No. 79. The presenters referred to a driving demonstration organized by Tesla in conjunction with GRVA to justify their statements. The proposal received some comments. The contracting parties were not opposed to an evolution of the regulatory provisions based on experience, if the assurance of safety is provided. The expert from AVERE presented revised proposals GRVA-04-41 and GRVA-04-42 aimed at addressing comments received. GRVA noted that some parts of the proposals were also addressed by the proposal submitted by the expert from OICA and agreed to review it.
35. GRVA welcomed the proposal from the expert from the United Kingdom, who volunteered to lead activities on the review of the three AVERE proposals as well as the amendment proposal tabled by OICA in GRVA-04-08 with the aim to prepare a formal proposal until November 2019 in order to meet the deadline for submission of documents for the February 2020 session of GRVA.
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GRVA-04-53 | UN R79 requirements and real-world driving behavior (75MB file)
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UN R79 requirements and real-world driving behavior (75MB file)
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Reference Number: GRVA-04-53
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Presentation on Tesla experience with hands-on lane-keeping and automated lane-change systems, especially with regard to lateral acceleration and distance limits under UN R79.
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Submitted by: EME and Tesla
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Meeting Sessions: 4th GRVA session (24-27
Sep 2019)
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Document date: 26 Sep 19
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Relevant to
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View full document file for more information
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GRVA/2019/26 | UN R79: Proposal for amendments to the 03 series of amendments
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UN R79: Proposal for amendments to the 03 series of amendments
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Reference Number: GRVA/2019/26
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Discussion of lateral acceleration values for Automatically Commanded Steering Functions (ACSF) of Category B1 (e.g., SAE L2 lane-keeping) and proposal to allow the vehicle under test to change speeds in order to meet maximum lateral acceleration values when navigating curves.
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Submitted by: EME
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Meeting Sessions: 4th GRVA session (24-27
Sep 2019)
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Document date: 11 Jul 19
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Document status: Superseded
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Relevant to
|
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View full document file for more information
|
GRVA/2019/27 | UN R79: Proposal for amendments to the 03 series of amendments
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UN R79: Proposal for amendments to the 03 series of amendments
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Reference Number: GRVA/2019/27
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Proposal to allow for higher lateral acceleration limits for Automatically Commanded Steering Functions (ACSF) in executing lane changes.
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Submitted by: EME
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Meeting Sessions: 4th GRVA session (24-27
Sep 2019)
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Document date: 11 Jul 19
|
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Document status: Superseded
|
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Relevant to
|
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View full document file for more information
|
GRVA/2019/28 | UN R79: Proposal for amendments to the 03 series of amendments
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UN R79: Proposal for amendments to the 03 series of amendments
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Reference Number: GRVA/2019/28
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Proposal to supplement paragraph 5.6.4.6.7. with additional requirements regarding lane-change driver actions that should allow for a more intuitive user experience while limiting a significant risk of mode confusion.
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Submitted by: EME
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Meeting Sessions: 4th GRVA session (24-27
Sep 2019)
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Document date: 11 Jul 19
|
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Document status: Superseded
|
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Relevant to
|
|
View full document file for more information
|
GRVA-04-41 | UN R79: Revised proposal regarding ACSF B1 provisions
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UN R79: Revised proposal regarding ACSF B1 provisions
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Reference Number: GRVA-04-41
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Proposal to modify lateral acceleration values for Automatically Commanded Steering Functions (ACSF) of Category B1 (e.g., SAE L2 lane-keeping) and to allow the vehicle under test to change speeds in order to meet maximum lateral acceleration values when navigating curves.
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Submitted by: EME
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Meeting Sessions: 4th GRVA session (24-27
Sep 2019)
|
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Document date: 26 Sep 19
|
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Document status: Superseded
|
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Relevant to
|
|
View full document file for more information
|
GRVA-04-42 | UN R79: Revised proposal regarding ACSF C provisions
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UN R79: Revised proposal regarding ACSF C provisions
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Reference Number: GRVA-04-42
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Proposal to allow for higher lateral acceleration limits for Automatically Commanded Steering Functions (ACSF) in executing lane changes. The proposal modifies acceleration limits in the original proposal (GRVA/2019/27) and focuses on the timing for lane changes (e.g., 15-second total duration).
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Submitted by: EME
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Meeting Sessions: 4th GRVA session (24-27
Sep 2019)
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Document date: 26 Sep 19
|
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Document status: Superseded
|
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Relevant to
|
|
View full document file for more information
|
GRVA-04-08 | UN R79: Proposal for amendments to the 02 series of amendments
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UN R79: Proposal for amendments to the 02 series of amendments
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Reference Number: GRVA-04-08
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Proposal concerning assessment of ACSF Category B1 lane keeping systems. Under Annex 8, proposal to delete the warning-to-deactivation cascade testing at high speed because the capability is already demonstrated under the low-speed test and the high-speed variation effectively requires a test track length of more than two kilometers. The proposal would also clarify paragraph 5.6.2.3.1. regarding the use of inputs other than lane markings where lane markings are not present.
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Submitted by: CLEPA and OICA
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Meeting Sessions: 4th GRVA session (24-27
Sep 2019)
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Document date: 20 Sep 19
|
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Document status: Superseded
|
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Relevant to
|
|
View full document file for more information
|
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36. The expert from OICA presented GRVA-04-03, introducing ECE/TRANS/WP.29/GRVA/2019/24 proposing an alternative Human Machine Interface (HMI) for ACSF of Category C. The proposal received comments (and GRVA extended the discussion after the end of the official meeting time, without interpretation and without decisions or conclusions).
37. Following further discussion, GRVA adopted the proposal as amended (GRVA-04-43) and reproduced in Annex IV. GRVA requested the secretariat to submit it to WP.29 and AC.1, for consideration and vote at their March 2020 sessions.
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GRVA-04-03 | UN R79: Justification for proposed two-step HMI for Category C ACSF
GRVA/2019/24 | UN R79: Proposal for a Supplement to the 03 series of amendments
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UN R79: Proposal for a Supplement to the 03 series of amendments
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Reference Number: GRVA/2019/24
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Proposal to introduce provisions for a “two-step Human Machine Interface” in the requirements for Automatically Commanded Steering Functions (ACSF) of Category C lane-change functions.
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Submitted by: CLEPA and OICA
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Meeting Sessions: 4th GRVA session (24-27
Sep 2019)
|
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Document date: 10 Jul 19
|
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Document status: Superseded
|
|
Relevant to
|
|
View full document file for more information
|
GRVA-04-43 | UN R79: Agreed amendments to ECE/TRANS/WP.29/GRVA/2019/24
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UN R79: Agreed amendments to ECE/TRANS/WP.29/GRVA/2019/24
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Reference Number: GRVA-04-43
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Proposal to introduce provisions for a “two-step Human Machine Interface” in the requirements for Automatically Commanded Steering Functions (ACSF) of Category C lane-change functions.
|
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Meeting Sessions: 4th GRVA session (24-27
Sep 2019)
|
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Document date: 27 Sep 19
|
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Document status: Superseded
|
|
Relevant to
|
|
View full document file for more information
|
|
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38. The expert from ITU made a presentation on Digital Maps (GRVA-04-02) as announced during the last GRVA session. He presented activities related to the development of road databases for highly automated driving in series production light vehicles. He expressed views on the information that such databases should include and also indicated possible use cases for such technologies (supporting e.g. Advanced Emergency Braking Systems on stationary objects, a “sensor” for automated driving). The expert from the Netherlands welcomed the presentation and invited other stakeholders of the digital map industry to present their views at future meetings. The expert from China noted some comments regarding a specific national regulation and explained that GRVA was not the appropriate body to comment on regulation applicable in her Country. The expert from ITU corrected his statement and explained that regulations would play a role in the development of this technology.
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GRVA-04-02 | Road databases for highly automated driving in series production light vehicles
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39. The expert from OICA introduced GRVA-04-33 insisting on the need to develop ALKS provisions for Heavy Commercial Vehicles (HCVs). GRVA agreed that this work stream should not be delayed. GRVA invited OICA to develop proposals in parallel with the those developed by the IWG on ACSF and to keep them as harmonized as possible.
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GRVA-04-33 | Proposal from Industry about ALKS for HCVs
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