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UN R140: Proposal for a Supplement 7
Reference Number: WP.29/2026/20
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.
Meeting Sessions: 198th WP.29 session (9-13 Mar)
Document date: 23 Dec 25
Document status: Adopted by WP.29
Relevant to: UN Regulation No. 140 \| Electronic Stability Control Systems
Adoption Vote
This proposal (WP.29/2026/20) was adopted by the World Forum. Thirty-five Contracting Parties out of the 60 applying UN R140 were present for the vote by AC.1. Thirty-five voted in favor with zero against and zero abstaining.
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ESC/vehicle stability alternative assessment via ADS safety case

Reference Number: FADS-30-02

Submitted by: CLEPA and OICA

Meeting Sessions: 30th FADS session (15 Dec 2025)

Document date: 19 Dec 25

Relevant to: UN Regulation No. 13 | Heavy-Duty Vehicle Braking, UN Regulation No. 140 | Electronic Stability Control Systems, WP.29 Regulatory Project | Automated Driving Systems, and WP.29 Regulatory Project | Review of Regulations for Applicability to ADS Vehicles

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Proposal to amend Regulations under GRVA for application to ADS vehicles

Reference Number: GRVA/2026/6

Meeting Sessions: 24th GRVA session (19-23 Jan)

Document date: 07 Nov 25

Document status: Superseded

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Vehicle stability (ESC/VSF) alternative assessment via the ADS Regulation

Reference Number: GRVA-WS11-07

Submitted by: CLEPA and OICA

Meeting Sessions: 11th GRVA-WS-ADS session (4-5 Nov 2025)

Document date: 30 Oct 25

Relevant to: UN Regulation No. 140 | Electronic Stability Control Systems, GTR No. 8 | Electronic Stability Control Systems, and WP.29 Regulatory Project | Automated Driving Systems

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UN R140: Proposal for exemption where ADS provides stability function

Reference Number: FADS-28-03/Rev.1

Submitted by: CLEPA and OICA

Meeting Sessions: 28th FADS session (23-24 Oct 2025)

Document date: 23 Oct 25

Relevant to: UN Regulation No. 140 | Electronic Stability Control Systems, WP.29 Regulatory Project | Automated Driving Systems, and WP.29 Regulatory Project | Review of Regulations for Applicability to ADS Vehicles

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AV Screening: Proposal to amend document GRVA-23-17

Reference Number: FADS-28-05/Rev.1

Meeting Sessions: 28th FADS session (23-24 Oct 2025)

Document date: 22 Oct 25

Relevant to: UN Regulation No. 89 | Speed Limitation Devices, UN Regulation No. 90 | Replacement Brake Linings, Discs, and Drums, UN Regulation No. 131 | Advanced Emergency Braking Systems, UN Regulation No. 130 | Lane Departure Warning Systems, UN Regulation No. 140 | Electronic Stability Control Systems, UN Regulation No. 178 | Emergency Lane-Keeping Systems, UN Regulation No. 139 | Brake Assist Systems, UN Regulation No. 152 | Automatic Emergency Braking for M1/N1 vehicles, UN Regulation No. 171 | Driver-Control Assistance Systems (DCAS), and WP.29 Regulatory Project | Review of Regulations for Applicability to ADS Vehicles

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Proposals to amend UN Regulations for application to ADS vehicles

Reference Number: FADS-28-08/Rev.1

Meeting Sessions: 28th FADS session (23-24 Oct 2025)

Document date: 22 Oct 25

Relevant to: UN Regulation No. 89 | Speed Limitation Devices, UN Regulation No. 90 | Replacement Brake Linings, Discs, and Drums, UN Regulation No. 131 | Advanced Emergency Braking Systems, UN Regulation No. 130 | Lane Departure Warning Systems, UN Regulation No. 140 | Electronic Stability Control Systems, UN Regulation No. 178 | Emergency Lane-Keeping Systems, UN Regulation No. 139 | Brake Assist Systems, UN Regulation No. 152 | Automatic Emergency Braking for M1/N1 vehicles, UN Regulation No. 157 | Automated Lane-Keeping Systems (ALKS), UN Regulation No. 171 | Driver-Control Assistance Systems (DCAS), and WP.29 Regulatory Project | Review of Regulations for Applicability to ADS Vehicles

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UN R140: Proposal for amendments

Reference Number: GRVA-23-31

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.

Submitted by: UK

Meeting Sessions: 23rd GRVA session (22-25 Sep 2025)

Document date: 22 Sep 25

Relevant to: UN Regulation No. 140 | Electronic Stability Control Systems

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Proposals to address automated vehicle stability and ESC

Reference Number: FADS-27-09

Submitted by: CLEPA and OICA

Meeting Sessions: 27th FADS session (11-12 Sep 2025)

Document date: 11 Sep 25

Relevant to: GTR No. 8 | Electronic Stability Control Systems, UN Regulation No. 140 | Electronic Stability Control Systems, WP.29 Regulatory Project | Automated Driving Systems, and WP.29 Regulatory Project | Review of Regulations for Applicability to ADS Vehicles

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UN R140: Draft amendments to enable application to ADS vehicles

Reference Number: FADS-27-06/Rev.1

Submitted by: EC

Meeting Sessions: 27th FADS session (11-12 Sep 2025)

Document date: 11 Sep 25

Relevant to: UN Regulation No. 140 | Electronic Stability Control Systems and WP.29 Regulatory Project | Review of Regulations for Applicability to ADS Vehicles

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UN R140: Comments on draft amendment to enable application to ADS vehicles

Reference Number: FADS-26-02

Submitted by: CLEPA, EC, and OICA

Meeting Sessions: 26th FADS session (22 Jul 2025)

Document date: 17 Jul 25

Relevant to: UN Regulation No. 140 | Electronic Stability Control Systems and WP.29 Regulatory Project | Review of Regulations for Applicability to ADS Vehicles

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UN R140: Proposal for amendments

Reference Number: GRVA-22-39

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

Submitted by: UK

Meeting Sessions: 22nd GRVA session (2-6 Jun 2025)

Document date: 05 Jun 25

Document status: Informal GR review

Relevant to: UN Regulation No. 140 | Electronic Stability Control Systems and United Nations Agreement | Mutual Resolution No. 2: Vehicle Propulsion System Definitions

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Electronic stability control sine dwell test example

Reference Number: FADS-24-03

Submitted by: EC

Meeting Sessions: 24th FADS session (12 May 2025)

Document date: 09 May 25

Relevant to: UN Regulation No. 140 | Electronic Stability Control Systems and GTR No. 8 | Electronic Stability Control Systems

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UN R140: Consolidated proposal for application to ADS vehicles

Reference Number: FADS-24-02

Submitted by: EC

Meeting Sessions: 24th FADS session (12 May 2025)

Document date: 09 May 25

Relevant to: UN Regulation No. 140 | Electronic Stability Control Systems and WP.29 Regulatory Project | Review of Regulations for Applicability to ADS Vehicles

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Provisions for PTI in UN Regulations

Reference Number: PTI-37-03/Rev.1

Submitted by: CITA

Meeting Sessions: 37th PTI session (20 Feb 2025)

Document date: 20 Feb 25

Relevant to: UN Regulation No. 140 | Electronic Stability Control Systems, UN Rule No. 2 | Vehicle Inspections: Roadworthiness, WP.29 Discussion Topic | Periodical Technical Inspections: Remote Access to Vehicle Data, and WP.29 Discussion Topic | Electronic Technical Inspections

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UN R140: Input on testing provisions

Reference Number: FADS-22-07

Submitted by: EC

Meeting Sessions: 22nd FADS session (10-13 Feb 2025)

Document date: 10 Feb 25

Relevant to: WP.29 Regulatory Project | Review of Regulations for Applicability to ADS Vehicles and UN Regulation No. 140 | Electronic Stability Control Systems

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Regulation Fitness for ADS (GRVA): Report of the 21st (January 2025) session

Reference Number: FADS-21-12

Meeting Sessions: 21st FADS session (13 Jan 2025)

Document date: 17 Jan 25

Relevant to: GTR No. 8 | Electronic Stability Control Systems, UN Regulation No. 13 | Heavy-Duty Vehicle Braking, UN Regulation No. 13-H | Light-Duty Vehicle Braking, UN Regulation No. 79 | Steering Equipment, UN Regulation No. 140 | Electronic Stability Control Systems, WP.29 Regulatory Project | Review of Regulations for Applicability to ADS Vehicles, and WP.29 Regulatory Project | Automated vehicle categorisation

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Comments on document FADS-18-07

Reference Number: FADS-21-08

Submitted by: CLEPA and OICA

Meeting Sessions: 21st FADS session (13 Jan 2025)

Document date: 13 Jan 25

Relevant to: UN Regulation No. 140 | Electronic Stability Control Systems, WP.29 Regulatory Project | Review of Regulations for Applicability to ADS Vehicles, and UN Regulation No. 79 | Steering Equipment

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UN R140: Comments on document FADS-21-02

Reference Number: FADS-21-09

Submitted by: CLEPA and OICA

Meeting Sessions: 21st FADS session (13 Jan 2025)

Document date: 13 Jan 25

Relevant to: UN Regulation No. 140 | Electronic Stability Control Systems and WP.29 Regulatory Project | Review of Regulations for Applicability to ADS Vehicles

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Documents 2025 19 documents

31 Dec 2025 UN R140: Proposal for a Supplement 7 WP.29/2026/20

19 Dec 2025 ESC/vehicle stability alternative assessment via ADS safety case (CLEPA, OICA) FADS-30-02

7 Nov 2025 Proposal to amend Regulations under GRVA for application to ADS vehicles GRVA/2026/6

30 Oct 2025 Vehicle stability (ESC/VSF) alternative assessment via the ADS Regulation (CLEPA, OICA) GRVA-WS11-07

23 Oct 2025 UN R140: Proposal for exemption where ADS provides stability function (CLEPA, OICA) FADS-28-03/Rev.1

22 Oct 2025 Proposals to amend UN Regulations for application to ADS vehicles FADS-28-08/Rev.1

22 Oct 2025 AV Screening: Proposal to amend document GRVA-23-17 FADS-28-05/Rev.1

22 Sep 2025 UN R140: Proposal for amendments (UK) GRVA-23-31

11 Sep 2025 UN R140: Draft amendments to enable application to ADS vehicles (EC) FADS-27-06/Rev.1

11 Sep 2025 Proposals to address automated vehicle stability and ESC (CLEPA, OICA) FADS-27-09

17 Jul 2025 UN R140: Comments on draft amendment to enable application to ADS vehicles (CLEPA, EC, OICA) FADS-26-02

5 Jun 2025 UN R140: Proposal for amendments (UK) GRVA-22-39

9 May 2025 UN R140: Consolidated proposal for application to ADS vehicles (EC) FADS-24-02

9 May 2025 Electronic stability control sine dwell test example (EC) FADS-24-03

20 Feb 2025 Provisions for PTI in UN Regulations (CITA) PTI-37-03/Rev.1

10 Feb 2025 UN R140: Input on testing provisions (EC) FADS-22-07

17 Jan 2025 Regulation Fitness for ADS (GRVA): Report of the 21st (January 2025) session FADS-21-12

13 Jan 2025 UN R140: Comments on document FADS-21-02 (CLEPA, OICA) FADS-21-09

13 Jan 2025 Comments on document FADS-18-07 (CLEPA, OICA) FADS-21-08

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