Proposal to amend GRVA/2026/14 and GRVA/2026/18: insert new paragraph 2.28.1. defining “Highway-like road” as a non-highway section with at least two lanes, designated speed limit of at least 80 km/h, no prohibition of pedestrians and cyclists, physical separation dividing opposite traffic, and no at-grade marked pedestrian crossings, rail crossings, or road intersections; amend paragraphs 5.3.7.2.3.1. and 5.5.4.2.6.5. to address highway-like road operation and withholding of HORs; insert new paragraph 4.2.5.2.16. to Annex 4. specifying testing for longitudinally moving bicycle targets; amend Annex 1. to add items 6.4. and 6.4.1. regarding withholding of HORs; and insert new paragraph 16.2.3. establishing that as from 1 September 2029 Contracting Parties shall not be obliged to accept type approvals issued to the preceding series of amendments for systems capable of withholding HORs on highway-like roads.

For the purposes of type approval under any UN Regulation requiring the verification of the timing of a system intervention, manufacturers shall provide to the approval authority or its designated technical service information on the method by which the initiation of any system intervention can be objectively identified and retrieved, including specific flags, status bits, event codes on in-vehicle networks, or visual indications on screens; clear instructions and all necessary tools for the Technical Service to extract, access and interpret the signal identifying the initiation; documented procedures including corresponding data sources, resolution, and timing accuracy appended to the type approval test report; and, where a visual indication displayed on a screen is used, documented latency between the earliest internal point at which the system initiates the function and the moment the visual indication becomes visible on the screen, expressed as a fixed value with associated uncertainty, with the documented latency value used to correct the observed timing of the screen indication appended to the type approval test report.

Proposal to amend GRVA/2026/16, based on GRVA-25-46. Insert new Introduction paragraph 17 regarding DCAS technology development and continuous review; amend paragraph 2.11. to define Target Lane; amend paragraph 5.3.5.1. to specify system boundary detection and feature transition requirements; amend paragraph 5.3.7.1.4. regarding steering support at boundary conditions; amend paragraph 5.3.7.2.1.1. to clarify driver disengagement detection timing; insert new paragraph 5.3.7.2.1.13. regarding manufacturer description of system behaviour during driver disengagement; amend paragraph 5.3.7.2.3.1. regarding driver confirmation time; amend paragraph 5.3.7.3.1. concerning risk mitigation function compliance; amend paragraph 5.3.7.5.1.1.2. regarding headway configuration notification; insert footnote 3 defining initiation of powertrain; amend paragraph 5.5.3.1. to clarify system off mode default status; amend paragraph 5.5.4.1.1. removing reference to system-initiated manoeuvres; amend paragraph 5.5.4.2.2.3. regarding warning escalation strategy; amend paragraphs 5.5.4.2.5.2. and 5.5.4.2.5.2.1. regarding visual disengagement assessment; amend paragraphs 5.5.4.2.7. and 5.5.4.2.7.1. regarding disengagement detection strategies; amend paragraph 5.5.4.2.8.1. regarding system activation disabling; amend paragraph 6.2.4.1. regarding approaching vehicle deceleration at speeds up to 60 km/h; amend paragraph 14.2. regarding production discontinuation; delete Annex 3 paragraphs 2.15. and 2.16. defining Highway and Non-Highway roads; amend Annex 3 paragraph 3.1.1. regarding documentation package retention; renumber Annex 3 paragraph 3.5.7. to 3.4.5. and insert new paragraph 3.4.5. regarding system information strategy; insert new paragraph 3.5.5. regarding safety management processes during operation phase; renumber former paragraphs 3.5.5. and 3.5.6. to 3.5.6. and 3.5.7. respectively; insert Annex 3 Appendix 2 with new definitions section; amend Annex 4 Introduction regarding test requirements and extended tests; amend paragraph 4.2.2.1. regarding longitudinal control distance; insert new paragraph 4.2.2.2. regarding non-repeatable outcomes; amend paragraphs 4.2.5.2.8.1.2., 4.2.5.2.10.1.1., and 4.2.5.2.12.1.1. regarding bicycle target specifications; delete paragraph 4.2.5.2.14.1.2.; amend paragraph 4.2.5.2.14.2.1. regarding test execution requirements; and amend Annex 5 paragraphs 3.4.8.2. and 3.5.5.1. regarding M&S data and simulation tool criticality assessment.

Proposal to:

• Amend Introduction para. 17 to clarify DCAS development based on current technology and data
• Amend para. 2.11 to delete “the” before “travel”
• Insert new para. 2.28.1. defining “Highway-like road” with characteristics including at least two lanes, designated speed limit of at least 80 km/h, physical separation dividing opposite traffic, and absence of at-grade pedestrian crossings, rail crossings, or road intersections
• Amend para. 5.3.5.1 to specify system shall leave active mode with exception of driver unavailability response
• Amend para. 5.3.7.1.4 to delete “the” before “front tyre”
• Amend para. 5.3.7.2.1.1 to change “detected” to “deemed” and specify disengagement duration of more than 2s
• Insert new para. 5.3.7.2.1.13 requiring manufacturer to describe system behaviour if driver detected disengaged during manoeuvre
• Amend para. 5.3.7.2.3.1 to delete requirements reference and require sufficient time for driver confirmation
• Amend para. 5.3.7.2.5.3.1 to add “or highway-like road” to highway operation requirements
• Delete para. 5.3.7.2.4.3 and renumber paras. 5.3.7.2.4.4 to 5.3.7.2.4.11 as 5.3.7.2.4.3 to 5.3.7.2.4.10
• Amend para. 5.3.7.3.1 to reference systems driver unavailability response and RMF requirements of 04 series UN R79
• Amend para. 5.3.7.3.3 to specify system capable of lane changes during driver unavailability response in compliance with RMF requirements
• Amend para. 5.5.4.2.2.3 to renumber and require warning strategies prioritize simultaneously activated emergency assistance systems
• Amend paras. 5.5.4.2.5.2 and 5.5.4.2.5.2.1 to specify visual disengagement criteria, dashboard consideration limited to 3 seconds, and visual re-engagement duration of at least 200 milliseconds
• Amend para. 5.5.4.2.6.5 to allow HOR withholding on highway-like roads at speeds up to 130 km/h and require verification of road characteristics for at least 500 m or 30 seconds, demonstration of safe cyclist operation, and HOR at least 7s before end of highway-like road
• Amend paras. 5.5.4.2.7 and 5.5.4.2.7.1 to add assessment of gaze direction changes and insert new para. 5.5.4.2.7.1
• Amend para. 6.2.4.1 to permit deviation from assessment at speeds up to 60 km/h with manufacturer explanation to Type Approval Authority
• Amend para. 14.2 to change “definitely” to “definitively”
• Amend Annex 1 to add para. 6.4.1 for system capability of withholding HORs on highway-like roads
• Delete Annex 3 paras. 2.15 and 2.16 defining “Highway” and “Non-Highway”
• Amend Annex 3 para. 3.1.1 to change “definitely” to “definitively”
• Renumber Annex 3 para. 3.5.7 to 3.4.5 and amend to require system information strategy

The document requests guidance on the legal basis for provisions within UN Regulations extending beyond the End-of-Production date and which authority such provisions address. Examples include UN R171 requirements for manufacturers to demonstrate safety management systems to the Type Approval Authority every three years and report annually on Driven Coded Auxiliary System operation until production is discontinued, and UN R155 requirements for Cyber Security Management Systems to apply to the post-production phase when vehicles remain operational but are no longer produced. The document poses an additional question regarding vehicle safety when manufacturers cease operations and cannot fulfill post-deployment safety provisions.

Proposal to develop UN GTR for both assisted and automated parking. The document presents parking product classifications in China, including assisted parking (park-in/park-out, cruising capability, remote-control variants) and automated parking systems. Current UN Regulations lack specific technical requirements, test methods, and test scenarios for parking functions. China is developing national standards GB for parking combined driver assistance systems and automated parking systems, with approval expected by end of 2026 and early 2027 respectively. The proposal suggests establishing a Task Force to study applicability of current UN Regulations to parking products, then determining whether to establish an IWG or formulate new regulations.

Proposal to delete the draft “Reserved” paragraph 5.3.7.2.4.3. in GRVA/2026/18. Reserving paragraph 5.3.7.2.4.3. in the 01 series would mean that the subsequent paragraphs would be out of line with the numbering in the 02 series, making future amendments to UN R171 unnecessarily challenging.

Proposal to amend the original version (GRVA/2026/15), insert para. 5.3.7.2.1.13. to require the manufacturer to describe in the safety concept the system behaviour in case the driver is detected to be disengaged during a manoeuvre; amend the original version and the 01 series (GRVA/2026/15 and GRVA/2026/17), amend para. 3.5.1. of Annex 3 to require the manufacturer to demonstrate to the Type Approval Authority at least every three years that the safety management system continues to comply with requirements; amend the 01 and 02 series (GRVA/2026/17 and WP.29/2026/86), amend para. 2.3.2. of Appendix 2 of Annex 3; amend the 02 series (WP.29/2026/86), amend para. 4.2.5.2.19.2.1. of Annex 4; and amend the original version, 01 series and 02 series (GRVA/2026/15, GRVA/2026/17 and WP.29/2026/86), amend para. 4.2.5.2.14.1.2. of Annex 4 and para. 4.2.5.2.14.2.1. of Annex 4.

Proposal to insert provisions on software identification and software updates into UN R13, UN R13-H, UN R79, UN R89, UN R130, UN R131, UN R152, UN R155, UN R156, UN R157, UN R171, UN R175, and UN R178 by adding definitions referencing Consolidated Resolution R.E.3 Annex 7, requiring manufacturers to provide Technical Services with information on hardware and software influencing performance, permitting vehicle manufacturers to apply for new approvals differentiating software versions for registered versus new vehicles, clarifying that production discontinuation does not apply when manufacturers seek approval extensions for software updates of registered vehicles, and amending communication forms to include software identification numbers and related information.

Since the 24th (January 2026) GRVA session, the ADAS task force held an online session on 3 March 2026. A 02 series of amendments to UN R171 (GRVA-24-17/Rev.2) was approved and submitted to WP.29 as WP.29/2026/86. Draft supplements and consolidated and extracted versions for 00 and 01 series were prepared (GRVA-24-18-A, GRVA-24-19-A, GRVA-24-18-B, GRVA-24-19-B). For the 25th GRVA session, editorial modifications and consolidated and extracted versions were submitted (GRVA/2026/14, GRVA/2026/15, GRVA/2026/16, GRVA/2026/17, GRVA/2026/18). The task force seeks guidance on provisions for DCAS use on highway-like roads and feedback on existing provisions following practical implementation of UN R171. The ADAS task force will be maintained with a break in activities pending stakeholder inputs and concrete proposals.

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 amend UN R171 to modify paragraphs 5.5.4.2.8.2., 5.3.7.2.4.2., 5.3.7.2.6.1., 6.4.2., 7.2.3.1., 14.2., and Annexes 3 and 4. The amendments include clarifications regarding driver engagement determination, system boundary conditions, automatic acceleration in non-highway environments, system-initiated manoeuvres tracking, production discontinuation, documentation retention periods, supplier safety management arrangements, and test scenario specifications for bicycle and cyclist targets.

Consolidated proposal to clarify provisions in the original version of the Regulation. See GRVA/2026/16 for the proposed amendments.

Proposal with the amendments to UN R171 presented in the consolidated version in GRVA/2026/15. Modifications include: inserting new introduction paragraph 17 establishing the regulation on current technology with continuous review based on data; amending paragraphs on system boundaries, driver disengagement detection, manoeuvre initiation, and Risk Mitigation Function; clarifying driver state monitoring and visual engagement assessment; updating terminology for powertrain; deleting duplicate definitions; adding processes for safety management during operation phase; inserting definition of “Evidence”; clarifying base and extended test requirements; and updating language from “cyclist” to “bicycle” in test scenarios.

Proposal to clarify UN R171 on Driver Control Assistance Systems (DCAS). The modifications include clarifications to definitions, adding “Highway-like road” definition; clarifications to system boundary detection, manoeuvre initiation, and driver disengagement requirements; amendments permitting withholding of hands-on requests on highway-like roads up to 130 km/h; clarifications on Risk Mitigation Function terminology; amendments allowing alternative strategies for lower-speed lane changes; addition of operational phase safety management processes; and clarifications on testing requirements and non-rule-based algorithm repeatability.

Consolidated version based on WP.29/2025/7 as amended by WP.29-195-05, WP.29/2025/144, GRVA-24-18, and GRVA-24-19. See GRVA/2026/18 for the proposed amendments.

Proposal for a 02 series of amendmentsProposal to modify to address system-initiated manoeuvres in non-highway environments and during phases of withholding hands-on requests, enhanced driver disengagement monitoring and warning strategies, controllability requirements for complex operational scenarios, speed limit assistance features, safe headway assistance, system validation through multiple assessment pillars including physical tests and in-service monitoring, and comprehensive safety management system requirements for manufacturers. Additional specifications include monitoring of DCAS operation with mandatory reporting of safety-critical occurrences to approval authorities, periodic reporting requirements with specific data collection metrics, and software identification and updating compliance with UN R156. The proposal also clarifies that DCAS is only permitted to operate when a driver is in control and that vehicles of categories X and Y without driver control capability are not required to comply with the regulation.

Proposal to establish a Supplement to the 01 series of amendments to UN Regulation No. 171 on Driver Control Assistance Systems. The amendments modify technical requirements for system boundaries, driver disengagement detection, manoeuvre initiation, and driver unavailability response. New definitions for “Target Lane” and “Highway-like road” are introduced. Changes address system behaviour at boundary conditions, visual engagement criteria, and hands-off request withholding on highway-like roads. Testing and documentation requirements are revised to clarify Type Approval Authority responsibilities and manufacturer safety management processes during the operation phase.

The ADAS task force reviewed draft amendments to UN Regulation No. 171. The task force agreed on editorial corrections to the 02 series of amendments for a formal submission to the June WP.29 session. CLEPA submitted three clarification proposals for the 02 series to be addressed via supplement if needed. Draft supplements to the original version and 01 series were introduced for GRVA consideration. The TF agreed to take a break before initiating Phase 4 development work and invited stakeholders to submit written proposals on future developments.

Proposal to modify provisions for system boundaries, driver disengagement detection, manoeuvre initiation, and risk mitigation functions. Changes include clarifications on visual engagement assessment, headway configuration warnings, and driver unavailability response procedures. Amendments address system behaviour at boundary conditions, lane change manoeuvre protocols, and documentation requirements. Test procedures are updated regarding bicycle target positioning and terminology. Manufacturing processes for safety management during vehicle operation are added. Documentation definitions and simulation model criticality assessments are clarified.

Consolidated version of the 02 series of amendments based on GRVA/2026/4 and including all amendments agreed during the 24th GRVA session.

Proposal to revise the transitional provisions and provisions on continued compliance with Safety Management Systems provisions.

Proposal to allow alternative strategies to be used for lower speed lane changes, clarify wording, and correct typographical errors.

Status report including supporting explanation of the 02 series amendment proposals.

This document consolidates amendments to WP.29/2026/86 by GRVA/2026/14, GRVA-25-46, and GRVA-25-51. It proposes to amend para. 5.5.4.2.8.2., renumber reference to para. 5.3.7.2.1.1.1. to 5.3.7.2.4.10., amend paras. 5.3.7.2.4.2., 5.3.7.2.5.3.1., 5.3.7.2.6.1., 6.4.2., and 7.2.3.1., replace “definitely” with “definitively” in para. 14.2. and Annex 3 paras. 3.1.1.a and 3.1.1.b, insert new para. 16.2.3. effective 1 September 2029, amend Annex 1 para. 6.4., renumber reference in Annex 3 para. 3.5.7., amend Annex 3 Appendix 2 para. 2.3.2., amend text in Annex 4 diagrams at paras. 4.2.5.2.8.1.2., 4.2.5.2.10.1.1., 4.2.5.2.12.1.1., 4.2.5.2.16.1.3., and 4.2.5.2.20.1.3., delete second diagram in para. 4.2.5.2.14.1.2., amend paras. 4.2.5.2.14.2.1. and 4.2.5.2.19.2.1., and delete words in para. 4.2.5.2.19.1.1.

A version of this document with tracked changes is available.

Proposal to modify UN R171 through the 02 series of amendments, based on WP.29/2025/7, WP.29-195-05, and WP.29/2025/144, introducing modifications addressing system-initiated manoeuvres in non-highway environments and during phases of withholding hands-on requests, enhanced driver disengagement monitoring and warning strategies, controllability requirements for complex operational scenarios, speed limit assistance features, safe headway assistance, system validation through multiple assessment pillars including physical tests and in-service monitoring, and comprehensive safety management system requirements for manufacturers. Additional specifications include monitoring of DCAS operation with mandatory reporting of safety-critical occurrences to Type Approval Authorities, periodic reporting requirements with specific data collection metrics, and software identification and updating compliance with UN R156.

Base working document from the ADAS task force Small Drafting Group (SDG).

Proposal to prohibit operation of DCAS while an ADS feature is active.

Proposal to introduce an Annex 6 providing guidance on the use of the DETA platform to exchange information of DCAS performance incidents and remedial actions and to remove references to system-initiated manoeuvres (SIM) to reduce risks of misinterpretation of the regulation. The approval of SIM has not yet been proposed by the ADAS task force.

Proposal to introduce an Annex 6 providing guidance on the use of the DETA internet database for the exchange of information on incidents related to DCAS operation between Type Approval Authorities.

Proposal to clarify the requirements for the activation of direction-indicator lamps to ensure compatibility with driver control assistance systems as permitted under UN Regulation No. 171.

Experience with assisted driving system warning strategies across different vehicle brands in US market.

Proposal to introduce an Annex 6 providing guidance on the use of the DETA internet database for the exchange of information on incidents related to DCAS operation between Type Approval Authorities.

Proposal to establish a guidance on the use of the UN secure internet database “DETA” for the exchange of information on incidents related to DCAS operation between Type Approval Authorities.

Proposal to remove references to system-initiated manoeuvres (SIM) to reduce risks of misinterpretation of the regulation. The approval of SIM has not yet been proposed by the ADAS task force.

Proposal for improvements to the text.

Proposal to cleanse the document with regard to reference to system-initiated manoeuvres to avoid misinterpretation.

Proposal from the ADAS task force chair to introduce guidance on the use of the UN secure internet database “DETA” for the exchange of information on incidents related to DCAS operation between Type Approval Authorities. A new annex is proposed to accommodate such guidance, which is based on that provided for implementation of UN Regulation No. 155 on cybersecurity (document ECE/TRANS/WP.29/2022/61 adopted by WP.29).

Proposal to introduce new provisions to enable regulating DCAS supporting system-initiated manoeuvres and/or allowing skipping “hands-on” requests, ensuring maintaining string stability and providing additional editorial corrections and clarifications.

New provisions concerning hands-on requests and withholding thereof (Annex 3), deletion of a subclause on free space in target lane of lane change, and editorial corrections.

Updated draft proposal.

Proposal from the ADAS task force for improvements to the text.

The 35th ADAS task force session (ADAS-35-01) will be held online on 30–31 October 2024 to further develop UN Regulation No. 171 (phase 3) as endorsed by GRVA at its 20th session (GRVA-20-21/Add.1). The agenda includes finalizing items for the 21st GRVA session: extending clarifications to the 00 series of amendments (ADAS-35-02), confirming transitional provision dates for the 01 series of amendments (GRVA-20-59/Rev.2), and resolving contradictory paragraphs 5.3.7.2.4.10. and 5.3.7.2.5.3.2. The task force will exchange views on lifting highway limitations for system-initiated manoeuvres, driver knowledge confirmation procedures, and optimizing periodic reporting information in Table 1 of Section 7. The chair will present a routine proposal to amend Appendix 2 of Annex 3 (ADAS-35-03).

Proposal for driver acknowledgement of correct use of DCAS.

Revised proposal concerning reinstatement of the system at initiation of the powertrain.

Proposal to modify the in-service performance reporting requirements.

Proposal to improve the wording of the “decelerating lead vehicle” test scenario for consistency with related provisions in the text.

Proposal to align the original proposal to amend UN R171 with UN R79 and UN R157 with regard to the use of the term “activation” in relation to the powertrain.

ADAS task force draft amendments to UN R171 pursuant to the 33rd task force session.

Proposal to explicitly note objectives behind provisions requiring manufacturers to perform in-service monitoring and reporting (ISMR) for their driver-control assistance systems approved under UN R171 and for UN R171 to be continually reviewed based on technological progress and data collected via ISMR.