Amendment 1 has been prepared purely as documentation tool. The authentic and legally binding text is WP.29/2018/13. This document incorporates the following change:

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.

Amendment 2 has been prepared purely as documentation tool. The authentic and legally binding text is WP.29/2018/61. This document incorporates the following change:

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”.

Amendment 3 has been prepared purely as documentation tool. The authentic and legally binding text is WP.29/2019/49. This document incorporates the following change:

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.

Amendment 4 has been prepared purely as documentation tool. The authentic and legally binding text is WP.29/2020/68. This document incorporates the following change:

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.

UN R140 has been prepared purely as documentation tool. The authentic and legally binding text is WP.29/2016/62. This document incorporates the following change:

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.