The document is an agenda for the 31st meeting of the GRE Taskforce on Autonomous Vehicle Signalling Requirements, scheduled for 18 June 2026 from 09:00 to 13:00 CEST via WebEx. The agenda includes welcome remarks, introduction of participants, adoption of the agenda (AVSR-31-01), approval of the report of the 29th meeting (AVSR-30-05), a report from GRE-94 / TF FADS (GRE-94-23), discussion of ADS marker lamps including Japanese input and a draft hybrid regulation proposal (AVSR-28-02, AVSR-30-03, AVSR-31-02/-03), miscellaneous items, working plan for future steps, and next meeting arrangements. Japan has offered to host a September meeting in Tokyo.

Draft technical specifications establish mandatory ADS marker lamps on motor vehicles of categories M₁–M₃, N₁–N₃, L₆, and L₇, with front and rear lamps mandatory and side lamps mandatory or optional depending on vehicle length. Front lamps require daytime photometry of 50–300 cd and nighttime 10–125 cd; rear lamps require 20–120 cd daytime and 4–42 cd nighttime. Side lamps vary by type. All lamps are blue-green turquoise, mounted at minimum 250 mm height, and activate automatically only in fully automated mode with manual switching prohibited.

This intermediate draft proposes a new UN Regulation on ADS Marker Lamps based on discussions in technical groups. The regulation establishes requirements for approval of ADS Marker Lamps for motor vehicles of categories M₁–M₃, N₁–N₃, L₆–L₇, and O, as well as vehicle installation requirements. Key provisions include definitions of front, rear, and side ADS Marker Lamp categories with specifications for luminous intensity, colour (blue-green), geometric visibility angles, and positioning. The regulation covers lamp approval procedures, technical requirements, conformity testing, markings, and vehicle-level installation specifications including electrical connections, operational conditions, and interactions with direction indicators. Transitional provisions and communication forms for approvals are included.

This status report from GRE TF AVSR discusses development of a Hybrid Regulation on ADS Marker Lamps for power-driven vehicles. The TF addresses colour specifications aligned with SAE J3134 and ECE R65 standards. Key open questions for GRE guidance include: whether pulsating luminous intensity patterns should be permitted; potential conflict with the 1968 Vienna Convention on Road Traffic; application to platooning trucks and agricultural vehicles; inclusion of L₆ and L₇ categories; mandatory versus optional rear installation; variable luminous intensity based on environmental conditions; side marker lamp integration possibilities; and reciprocal incorporation with other lamps.

FIA proposes that vehicles in automated mode in mixed traffic should be marked with one light visible from all sides. Marker lights should have uniform colour and shape clearly distinguished from other signal lights, be positioned at sufficient distance from signal lights and headlamps to avoid impairing visibility, and be designed to not glare other road users.

The GRE Taskforce on Autonomous Vehicle Signalling discussed Automated Driving System marker lamps, including Japanese input on Vienna Convention compliance, vehicle categories under the 1958 Agreement, mandatory rear installation requirements, variable intensity settings, daytime/nighttime definitions, side marker lamp configurations, agricultural vehicle applicability, rooftop installation alternatives, and operational conditions adjacent to direction indicators. Several technical issues remain unresolved. An informal proposal for a hybrid regulation is expected for the 95th GRE session. The next meeting is scheduled for 18 June 2026.

SAE J3134 is copyright protected – Please read the disclaimer on first page.

Information on the Five-Year Review to determine
currency in accordance with SAE Technical Report Development Process

Proposal for technical and installation requirements (i.e., a “hybrid” regulation).

Proposal from the task force on Automated Vehicle Signalling Requirements to introduce provisions for vehicles with a driving system controlling its operation or operated by driver-support features, automated driving features, or an Automated Driving System and provide lighting requirements adapted to such vehicles and operating modes.

Information concerning ways to address the interests of law enforcement in being able to determine whether a vehicle is being operated by an ADS relative to the enforcement of laws regarding activities permitted to a driver (or conversely, permitted to the occupant of a driver’s seat while the vehicle is under ADS operation).

Note from the WP.29 secretariat.

Revised version of the FRAV recommendations as updated pursuant to GRVA discussions.

Proposal to introduce provisions concerning automated driving systems and driver support features based on terms “driving system” and “driving mode”.

Report to WP.1 (UN Global Forum for Traffic Safety).

Summary prepared by the WP.29 secretary concerning activities related to ADS and ADAS.

Update from the version posted on 27 March 2019.

Joint event Global Forum for Road Traffic Safety (WP.1) and World Forum for the Harmonization of Vehicle Regulations (WP.29): Automation in Transport: Safe deployment of automated vehicles in traffic, 18 February 2019

Invitation to the joint WP.29-WP.1 event "Safe Deployment of Automated Vehicles in Traffic” on 18 February 2019 in Geneva.

OICA review of the various national and regional guidelines on automated vehicle testing and development and perspectives for the development of a regulatory framework and vehicle certification procedure.

Abstract of the SAE Work-in-Progress Recommended Practice containing test procedures, performance requirements, and design guidelines for autonomous vehicle lighting.

Original German text of document AVSR-02-22, “Comments by the Federal Highway Research Institute (BASt) appraising the current state of knowledge and the need for standardization with regard to the external communication of automated vehicles”

Presentation on an academic symposium/workshop organized by the PIRE Project SD-SSCPS “Science and Design of Societal Scale CPS”.

SAE paper authored by Michael Hamm, Wolfgang Huhn, and Johannes Reschke of Audi AG concerning automated vehicle “light-driven messages” to pedestrians.

German-language research paper reporting on tests conducted with 35 participants (English extract included). GAR note: This document was re-posted on 18 December.

Ford Motor presentation on research into human responses to light bar signals.

Chalmers University research paper concerning an investigation of pedestrian-driver communication and development of an external interface for automated vehicles.

Presentation on research under the CityMobil2 program regarding an Automated Road Transport System (ARTS).

Draft report on Deliverable 1.1. under the EU-funded InterACT project consortium focused on “designing cooperative interaction of automated vehicles with other road users in mixed traffic environments”.