Revision 2 has been prepared purely as documentation tool. The authentic and legally binding texts are . This document incorporates the following changes:

Revision 2 | Amendment 1 has been prepared purely as documentation tool. The authentic and legally binding text is WP.29/2013/58. This document incorporates the following change:

Based upon a CLEPA proposal, the text as adopted by the Working Party on Brakes and Running Gear (GRRF) at its 74th session to align M1 vehicle braking performance requirements with UN R13-H provisions and clarify those for N1 vehicles in Annex 3 of UN R79 regarding the ‘energy failure’ condition test procedure.

Revision 2 | Amendment 2 has been prepared purely as documentation tool. The authentic and legally binding text is WP.29/2016/57. This document incorporates the following change:

Proposal to remove certain design restrictions that impede the application of new technologies, especially related to trailer power steering systems and the use of energy from the towing vehicle, including specification of the connector through which electrical energy is supplied in the proposal. This proposal also replaces references to rear-view mirrors with the term “indirect vision devices” to reflect the addition of camera-monitor systems to UN R46 and clarifies the references to Regulation No. 10 on electromagnetic compatibility requirements.

Revision 2 | Amendment 3 has been prepared purely as documentation tool. The authentic and legally binding texts are . This document incorporates the following change:

Revision 2 | Corrigendum 2 has been prepared purely as documentation tool. The authentic and legally binding texts are . This document incorporates the following change:

Revision 3 has been prepared purely as documentation tool. The authentic and legally binding texts are . This document incorporates the following change:

Revision 3 | Amendment 1 has been prepared purely as documentation tool. The authentic and legally binding texts are WP.29/2018/11 and WP.29/2018/35. This document incorporates the following changes:

Proposal to allow the use of the flashing electronic stability control (ESC) tell-tale to indicate the intervention of a corrective steering function (CSF) in cases where the CSF is controlled by the ESC (or other vehicle stability function) system. Outside such cases, CSF interventions are indicated by a continuous optical signal displayed for the duration of the intervention.

Proposal to introduce provisions for driver-initiated automated lane-change systems (Category C ASCF) and for automated emergency steering functions (ESF). This proposal includes amendments the annex on complex electronic systems (Annex 6), in particular, to require auditing of the methodologies used to ensure system safety at both concept and system level. The concept level specifically requires consideration of interaction with other vehicle systems.

Revision 3 | Amendment 3 has been prepared purely as documentation tool. The authentic and legally binding text is WP.29/2020/66. This document incorporates the following change:

Proposal 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).

Revision 3 | Amendment 4 has been prepared purely as documentation tool. The authentic and legally binding text is WP.29/2021/136. This document incorporates the following change:

Proposal from GRVA 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.

Revision 3 | Amendment 5 has been prepared purely as documentation tool. The authentic and legally binding text is WP.29/2022/14. This document incorporates the following change:

Revision 4 has been prepared purely as documentation tool. The authentic and legally binding texts are WP.29/2018/11 and WP.29/2018/35. This document incorporates the following changes:

Proposal to allow the use of the flashing electronic stability control (ESC) tell-tale to indicate the intervention of a corrective steering function (CSF) in cases where the CSF is controlled by the ESC (or other vehicle stability function) system. Outside such cases, CSF interventions are indicated by a continuous optical signal displayed for the duration of the intervention.

Proposal to introduce provisions for driver-initiated automated lane-change systems (Category C ASCF) and for automated emergency steering functions (ESF). This proposal includes amendments the annex on complex electronic systems (Annex 6), in particular, to require auditing of the methodologies used to ensure system safety at both concept and system level. The concept level specifically requires consideration of interaction with other vehicle systems.

Revision 4 | Amendment 1 has been prepared purely as documentation tool. The authentic and legally binding text is WP.29/2019/73. This document incorporates the following change:

Proposal to clarify requirements of the optical signal for a CSF intervention to ensure sufficient flashing tell-tale visibility for the driver, to specify the duration of such ACSF signals, to ensure a safe hierarchy of signals (e.g., ESF over CSF) by priority, to clarify that deactivation when departing an ODD means the “off mode”, and to add a cross-reference pointing to paragraphs that define cases of manual and automatic deactivation.

Revision 4 | Amendment 2 has been prepared purely as documentation tool. The authentic and legally binding text is WP.29/2020/11. This document incorporates the following change:

Proposal to introduce provisions for

• the approval of Remote Control Manoeuvring (RCM) systems
• a “two-step Human Machine Interface” in the requirements for Automatically Commanded Steering Functions (ACSF) of Category C lane-change functions, and
• 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).

Revision 4 | Amendment 3 has been prepared purely as documentation tool. The authentic and legally binding text is WP.29/2020/67. This document incorporates the following change:

Proposal to stipulate that “Automatic deactivation by the system of the direction indicator is required only if the lane change manoeuvre is initiated automatically, and if the direction indicator control is not fully engaged (latched position) during the lane change manoeuvre.” The proposal also would modify the high-speed test to end once the system has given an optical “hands-off” warning since the entire warning cascade is checked during the low-speed test. For M₂ and M₃ vehicles, the amendment allows a corrective steering function to use haptic signals as an alternative to acoustic signals for these categories of vehicles that are equipped with Lane Departure Warning System compliant with UN R130. This change would specify that the haptic warning may not be given solely via the steering wheel (e.g., provided in the driver’s seat).

Revision 4 | Amendment 4 has been prepared purely as documentation tool. The authentic and legally binding text is WP.29/2021/14. This document incorporates the following change:

Proposal to amend Annex 8 (Test requirements for Corrective and Automatically Commanded Steering Functions (ACSF)), paragraph 3.5. (Tests for ACSF of Category C) in order to clarify that enabling of the system as part of the test procedure is only necessary when the system is not yet enabled.

Revision 4 | Amendment 5 has been prepared purely as documentation tool. The authentic and legally binding text is WP.29/2021/72. This document incorporates the following change:

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.

Revision 4 | Amendment 6 has been prepared purely as documentation tool. The authentic and legally binding texts are WP.29/2021/82 and WP.29-184-05. This document incorporates the following change:

Proposal from GRVA to introduce a “risk mitigation function” (RMF) to enable an automated emergency response to driver incapacitation or unresponsiveness during use of an automatically commanded steering function.

Amendments as agreed during the 10th (May 2021) GRVA session to the proposal to introduce a “risk mitigation function” (RMF) to enable an automated emergency response to driver incapacitation or unresponsiveness during use of an automatically commanded steering function.

Revision 4 | Amendment 7 has been prepared purely as documentation tool. The authentic and legally binding text is WP.29/2021/137. This document incorporates the following change:

Proposal from GRVA 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.

Revision 4 | Amendment 8 has been prepared purely as documentation tool. The authentic and legally binding text is WP.29/2022/15. This document incorporates the following change:

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.

Revision 4 | Amendment 9 has been prepared purely as documentation tool. The authentic and legally binding text is WP.29/2022/80. This document incorporates the following change:

Revision 5 | Amendment 1 has been prepared purely as documentation tool. The authentic and legally binding text is WP.29/2021/138. This document incorporates the following change:

Proposal from GRVA 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.

Revision 5 | Amendment 2 has been prepared purely as documentation tool. The authentic and legally binding text is WP.29/2022/16. This document incorporates the following change:

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.

Revision 5 | Amendment 3 has been prepared purely as documentation tool. The authentic and legally binding text is WP.29/2022/81. This document incorporates the following change: