Proposal to address automated driving systems, vehicles of categories X and Y, steering control alternatives, test procedures, and ESC system operational requirements.

Proposal to amend UN R13, 13-H, 79, 89, 130, 131, 139, 140, 152, 155, 156, 157, 171, 175, and 178 by introducing provisions on software identification and software updates. Amendments add new paragraphs referring to Software Identification Number definitions in Consolidated Resolution R.E.3, require manufacturers to provide Technical Services with information on hardware and software influencing performance, permit vehicle manufacturers to apply for new approvals differentiating software versions for registered versus new vehicles while avoiding test duplication, and modify production discontinuation provisions to exclude cases where manufacturers seek approval extensions for software updates of registered vehicles.

Proposal to remove the draft provisions concerning the approval of stability performance under UN R13 and UN R140 for ADS vehicles via demonstration under the safety case provisions of the forthcoming UN Regulation on ADS, and to remove bracket unintentionally retained in the original submission.

Proposals to improve the text related to terminology across propulsion types (e.g., use of term “powertrain”) pursuant to similar improvements agreed via documents WP.20/2025/87 and 90.

Proposals to improve the text related to terminology across propulsion types (e.g., use of term “powertrain”) pursuant to similar improvements agreed via documents WP.20/2025/87 and 90.

Proposal to align the wording on “initiation of the powertrain” with MR2.

Proposal to clarify the requirements on the final steering amplitude in cases where front tyre saturation occurs before the calculated magnitude angle.

Proposal to clarify the requirements on the final steering amplitude in cases where front tyre saturation occurs before the calculated magnitude angle.

This document amends the formal proposal in document GRVA/2023/9.

Proposal to add the text, "In case that saturation of the front tyres happens before the above calculated magnitude angle, this angle may be used as the final steering amplitude, but only if this angle is greater or equal to 6.5 A.” based on the following justification:

1. Reaching fixed amplitude, i.e., fixed steering wheel angular speed due to given 0.7 Hz sine frequency, needs much more torque with quick steering gear ratio systems than with slow steering gear ratio systems, and produces much more wheel steer.
2. Car behavior (yaw rate, lateral acceleration and thus trajectory) is similar for all amplitudes above approx. 7 to 8 A (i.e., more than 7 times the steering wheel angle corresponding to 0.3 g), because front tires are saturated. More steer of the tires doesn’t provide more lateral force, so yaw rate and lateral acceleration don’t increase. Continuing to increase steering wheel amplitude after front tire saturation doesn’t give more information.
3. There might appear in the future some vehicles which have significantly low steering gear ratio (i.e., quick steering characteristics) and may need too much steering wheel torque to achieve the 270 degrees sine amplitude at 0.7 Hz (not reachable by conventional steering robots), then jeopardizing the easy approval of future beneficial steering equipment e.g. steering-by-wire systems.

Proposal to add the text, "In case that saturation of the front tyres happens before the above calculated magnitude angle, this angle may be used as the final steering amplitude, but only if this angle is greater or equal to 6.5 A.” based on the following justification:

1. Reaching fixed amplitude, i.e., fixed steering wheel angular speed due to given 0.7 Hz sine frequency, needs much more torque with quick steering gear ratio systems than with slow steering gear ratio systems, and produces much more wheel steer.
2. Car behavior (yaw rate, lateral acceleration and thus trajectory) is similar for all amplitudes above approx. 7 to 8 A (i.e., more than 7 times the steering wheel angle corresponding to 0.3 g), because front tires are saturated. More steer of the tires doesn’t provide more lateral force, so yaw rate and lateral acceleration don’t increase. Continuing to increase steering wheel amplitude after front tire saturation doesn’t give more information.
3. There might appear in the future some vehicles which have significantly low steering gear ratio (i.e., quick steering characteristics) and may need too much steering wheel torque to achieve the 270 degrees sine amplitude at 0.7 Hz (not reachable by conventional steering robots), then jeopardizing the easy approval of future beneficial steering equipment e.g. steering-by-wire systems.

Proposal for a provision to address use of a steering robot with mechanical power greater than 1200 W to enable testing of certain direct (low) steering gear ratio systems due to the given 0.7 Hz sine frequency.

Proposal to ensure the continuity of the American Society for Testing and Materials (ASTM) Method E1337 for the measurement of the Peak Braking Coefficient (PBC) in UN Regulation No. 140, by introducing a reference to the new ASTM Standard Reference Test Tyre F2493.

Proposal to ensure the continuity of the ASTM Method E1337 for the measurement of the Peak Braking Coefficient (PBC) by introducing a reference to the new American Society for Testing and Materials (ASTM) Standard Reference Test Tyre F2493.

Proposal to allow for the use of the maximum operable steering wheel angle of a steering system’s design in cases where the normalized angle as calculated under the regulation cannot meet the fixed values of the regulation (i.e., between 270 and 300 degrees). The intention is to enable approval of eventual systems (e.g., steer-by-wire) that may use low steering gear ratios.

The objective of this proposal is to develop, in the framework of the 1998 Agreement, an amendment to UN Global Technical Regulation (GTR) No. 8 on Electronic Stability Control to amend to the testing provisions to accommodate the latest innovations for steering systems which have significantly low steering gear ratio (i.e. quick steering characteristics).

Proposal complementary to GRVA/2020/12 to adapt provisions to steering-by-wire and related new technologies with regard to steering angles and system responsiveness.

Proposal to allow for the use of the maximum operable steering wheel angle of a steering system’s design in cases where the normalized angle as calculated under the regulation cannot meet the fixed values of the regulation (i.e., between 270 and 300 degrees). The intention is to enable approval of eventual systems (e.g., steer-by-wire) that may use low steering gear ratios.

Proposal to allow for the use of the maximum operable steering wheel angle of a steering system’s design in cases where the normalized angle as calculated under the regulation cannot meet the fixed values of the regulation (i.e., between 270 and 300 degrees). The intention is to enable approval of eventual systems (e.g., steer-by-wire) that may use low steering gear ratios.

Proposal to clarify that UN R140 does not mandate the installation of electronic stability control systems (ESC) on vehicles but rather specifies requirements for the approval of vehicles should they be equipped with an ESC system.

Proposal to clarify that UN R140 does not mandate the installation of electronic stability control systems (ESC) on vehicles but rather specifies requirements for the approval of vehicles should they be equipped with an ESC system.

This document proposes amendments to the ESC prescribed test conditions in anticipation of future developments in steering systems.

Proposal to clarify that UN R140 does not mandate the installation of electronic stability control systems (ESC) on vehicles but rather specifies requirements for the approval of vehicles should they be equipped with an ESC system.

Proposal to clarify the scope of UN R140 to vehicles submitted for approval under the Regulation (i.e., vehicles equipped with ESC).

Proposal to remove “if fitted” language from the text to clarify that UN R140 can only be applied to a vehicle equipped with a ESC system. UN R140 was originally established through the extraction of electronic stability controls (ESC) provisions from UN R13-H on brake systems. Within the context of UN R13-H, the ESC provisions were written to assess performance in cases where a vehicle was fitted with an electronic stability control system. As a stand-alone regulation, however, UN R140 applies only to vehicles that are equipped with ESC. The proposal also would correct an apparent error in to Annex 4, paragraph 2.1. where the reference to “ISO 15037 Part 1:2005” should read “ISO 15037 Part 1:2006”.

Proposal to enable activation of the ESC optical symbol in cases of a corrective steering function intervention when the CSF intervention is activated under the control of an ESC system. The aim is to avoid separate requirements for brake-actuated and steering-actuated vehicle stability functions (VSF) that would lead to two optical warnings where only one is necessary. This would enable use of the ESC intervention tell-tale for CSF steering intervention.

Proposal to remove “if fitted” language from the text to clarify that UN R140 can only be applied to a vehicle equipped with a ESC system. UN R140 was originally established through the extraction of electronic stability controls (ESC) provisions from UN R13-H on brake systems. Within the context of UN R13-H, the ESC provisions were written to assess performance in cases where a vehicle was fitted with an electronic stability control system. As a stand-alone regulation, however, UN R140 applies only to vehicles that are equipped with ESC. The proposal also would correct an apparent error in to Annex 4, paragraph 2.1. where the reference to “ISO 15037 Part 1:2005” should read “ISO 15037 Part 1:2006”.

Revised proposal, as approved during the 84th GRRF session, to enable activation of the ESC optical symbol in cases of a corrective steering function intervention when the CSF intervention is activated under the control of an ESC system. The aim is to avoid separate requirements for brake-actuated and steering-actuated vehicle stability functions (VSF) that would lead to two optical warnings where only one is necessary. This would enable use of the ESC intervention tell-tale for CSF steering intervention.

Revised proposal pursuant to GRRF discussions to enable activation of the ESC optical symbol in cases of a corrective steering function intervention when the CSF intervention is activated under the control of an ESC system. The aim is to avoid separate requirements for brake-actuated and steering-actuated vehicle stability functions (VSF) that would lead to two optical warnings where only one is necessary. This would enable use of the ESC intervention tell-tale for CSF steering intervention.

Revised proposal pursuant to GRRF discussions to enable activation of the ESC optical symbol in cases of a corrective steering function intervention when the CSF intervention is activated under the control of an ESC system. The aim is to avoid separate requirements for brake-actuated and steering-actuated vehicle stability functions (VSF) that would lead to two optical warnings where only one is appropriate.

Proposal to amend provisions on electronic stability control warnings under braking regulations to allow for activation of the ESC visual warning during a stability-assistance intervention of an electronic steering control. The aim is to avoid separate requirements for brake-actuated and steering-actuated stability assistance that would lead to two visual warnings where only one is appropriate.

Proposal to amend provisions on electronic stability control warnings under braking regulations to allow for activation of the ESC visual warning during a stability-assistance intervention of an electronic steering control. The aim is to avoid separate requirements for brake-actuated and steering-actuated stability assistance that would lead to two visual warnings where only one is appropriate.

Proposal for a new UN Regulation comprised of provisions concerning electronic stability control systems extracted from UN R13-H in order to facilitate work on the international whole vehicle type approval system.

Review of work towards adapting and/or approving certain UN Regulations for use within the International Whole Vehicle Type Approval regulation.

Revised version of document GRRF/2016/8 pursuant to discussions held during the February 2016 GRRF session, proposing a new UN Regulation comprised of provisions concerning electronic stability control systems extracted from UN R13-H.

Revised version of document GRRF/2016/6 pursuant to discussions held during the February 2016 GRRF session proposing to delete provisions for electronic stability and brake-assist systems from UN R13-H as part of their transposition into new stand-alone regulations.

Proposal for a new stand-alone UN Regulation on electronic stability control systems comprising the ESC provisions removed from UN R13-H.

In the framework of the International Whole Vehicle Type Approval (IWVTA) discussion, it was agreed to split Regulation No. 13-H into three distinct Regulations: on Braking, on Brake Assist Systems (BAS) and on Electronic Stability Control (ESC). In order to complete this task and to ease the implementation work of Contracting Parties relying on the existing text of the Regulation to mandate BAS or ESC, new transitional provisions are proposed.

Updated proposal to delete provisions for electronic stability and brake-assist systems from UN R13-H as part of their transposition into new stand-alone regulations. This proposal supersedes document GRRF/2014/10.

New proposal to delete provisions for electronic stability and brake-assist systems from UN R13-H as part of their transposition into new stand-alone regulations. This proposal supersedes document GRRF/2014/10.

Clarifications and improvements to the draft new regulation that removes ESC provisions from UN R13-H, including deletion of the “complex electronic systems” (CEL) annex and replacement with reference to compliance with the relevant safety provisions of UN R13-H.

New proposal to delete provisions for electronic stability and brake-assist systems from UN R13-H as part of their transposition into new stand-alone regulations. This proposal supersedes document GRRF/2014/10.

CLEPA proposed a framework for relating independent regulations on electronic subsystems of braking or steering systems to the primary braking/steering regulations. This proposal revises the wording, focusing on ESC systems with relation to the requirements for complex electronic control systems under Regulation 13-H.

Presentation discussing the framework for relating independent regulations on electronic subsystems of braking or steering systems to the primary braking/steering regulations.

Proposal to delete Annex 7 from the draft ESC regulation and replace the procedure for validating the test (road) surface condition with a reference to Appendix 6 to Annex 2 of UN R13-H. This change would ensure that the ESC regulation fully aligns with UN R13-H and with GTR No. 8 on ESC systems.

Explanation of three options developed for handling the approval of electronic stability controls (ESC) and brake-assist systems (BAS) under regulaitons separate from UN R13-H (light vehicle braking) while fulfilling the requirements of complex electronic systems (CEL).

Proposed corrections and clarifications to the draft text of the new regulation to separate ESC provisions from Regulation No. 13-H (document GRRF/2014/12).

Proposal to amend the draft text for the proposed new regulation on ESC which would extract the ESC provisions from the current UN R13-H on light vehicle braking systems. The intention is to clarify the meaning of the text in places where it is ambiguous when taken out of the context of UN R13-H.

Proposal to specify that safety aspects of ESC systems can be assessed under this new regulation or under UN R13-H. The objective of the proposed wording is to avoid redundant certification of the complex electronic control systems (CEL) aspects of ESC according to both the proposed ESC regulation and UN Regulation No. 13-H (keeping unchanged the level of safety). The proposal would permit the applicant to show evidence that CEL compliance has already been achieved according to Annex 8 of UN Regulation No. 13-H as an alternative to demonstrating compliance with the CEL annex of the ESC regulation.

Proposal for amendments to delete provisions for electronic stability and brake-assist systems from UN R13-H as part of their transposition into new stand-alone regulations.

Proposal to transfer electronic stability control systems provisions out of UN Regulation 13-H and into a new stand-alone regulation. The proposal arises from a perceived need to simplify UN R13-H to facilitate its application within the proposed international whole vehicle type approval. This document supersedes document GRRF-75-15.