UN R79 | Revision 2 (2005)
21 Apr 2005 2011-01-20 09:18:45 UTC 2 00 series of amendments | Supplement 2 01 series of amendments 00 series of amendments | Corrigendum 2 01 series of amendments | Supplement 1 01 series of amendments | Supplement 2 01 series of amendments | Supplement 3
UN R79 (2006)
20 Jan 2006 2011-01-20 09:21:10 UTC
UN R79 | Revision 2 | Corrigendum 2 (2006)
20 Jan 2006 2011-01-20 09:22:13 UTC 2 2 Revision 2 Erratum
UN R79 (2008)
8 Apr 2008 2011-01-20 09:23:03 UTC
UN R79 | Revision 2 | Amendment 1 (2014)
24 Feb 2014 2014-03-03 21:51:33 UTC 2 1 01 series of amendments | Supplement 4 Based upon the adopted proposal: WP.29/2013/58

Based upon a CLEPA proposal, the text as adopted by the Working Party on Brakes and Running Gear (GRRF) at its 74th session to align M1 vehicle braking performance requirements with UN R13-H provisions and clarify those for N1 vehicles in Annex 3 of UN R79 regarding the ‘energy failure’ condition test procedure.

UN R79 | Revision 2 | Amendment 2 (2017)
22 Feb 2017 2017-05-31 16:18:17 UTC 2 2 01 series of amendments | Supplement 5 Based upon the adopted proposal: WP.29/2016/57

Proposal to remove certain design restrictions that impede the application of new technologies, especially related to trailer power steering systems and the use of energy from the towing vehicle, including specification of the connector through which electrical energy is supplied in the proposal. This proposal also replaces references to rear-view mirrors with the term “indirect vision devices” to reflect the addition of camera-monitor systems to UN R46 and clarifies the references to Regulation No. 10 on electromagnetic compatibility requirements.

UN R79 | Revision 2 | Amendment 3 (2017)
7 Dec 2017 2017-12-18 11:50:19 UTC 2 3 02 series of amendments Based upon the adopted proposals: WP.29/2017/10

Proposal to introduce corrective steering and B1 level ACSF type approval provisions into UN R79. This proposal would enable the approval of corrective steering and lane-keeping assist systems in addition to current provisions for automated steering functions that operate at speeds up to 10 km/h.

WP.29-171-06

Amendments from the ACSF informal group to its proposal (document WP.29/2017/10) to enable the type approval of corrective steering functions and Category B1 automated steering systems (e.g., remote parking, continuous lane keeping).

UN R79 | Revision 3 (2017)
30 Nov 2017 2018-09-26 13:35:05 UTC 3 02 series of amendments Based upon the adopted proposals: WP.29/2017/10

Proposal to introduce corrective steering and B1 level ACSF type approval provisions into UN R79. This proposal would enable the approval of corrective steering and lane-keeping assist systems in addition to current provisions for automated steering functions that operate at speeds up to 10 km/h.

WP.29-171-06

Amendments from the ACSF informal group to its proposal (document WP.29/2017/10) to enable the type approval of corrective steering functions and Category B1 automated steering systems (e.g., remote parking, continuous lane keeping).

UN R79 | Revision 4 (2018)
7 Nov 2018 2019-03-21 14:06:17 UTC 4 02 series of amendments | Supplement 1 Based upon the adopted proposal: WP.29/2018/11

Proposal to allow the use of the flashing electronic stability control (ESC) tell-tale to indicate the intervention of a corrective steering function (CSF) in cases where the CSF is controlled by the ESC (or other vehicle stability function) system. Outside such cases, CSF interventions are indicated by a continuous optical signal displayed for the duration of the intervention.

03 series of amendments Based upon the adopted proposal: WP.29/2018/35

Proposal to introduce provisions for driver-initiated automated lane-change systems (Category C ASCF) and for automated emergency steering functions (ESF). This proposal includes amendments the annex on complex electronic systems (Annex 6), in particular, to require auditing of the methodologies used to ensure system safety at both concept and system level. The concept level specifically requires consideration of interaction with other vehicle systems.

UN R79 | Revision 3 | Amendment 1 (2018)
2 Nov 2018 2019-03-21 14:10:13 UTC 3 1 02 series of amendments | Supplement 1 Based upon the adopted proposal: WP.29/2018/11

Proposal to allow the use of the flashing electronic stability control (ESC) tell-tale to indicate the intervention of a corrective steering function (CSF) in cases where the CSF is controlled by the ESC (or other vehicle stability function) system. Outside such cases, CSF interventions are indicated by a continuous optical signal displayed for the duration of the intervention.

03 series of amendments Based upon the adopted proposal: WP.29/2018/35

Proposal to introduce provisions for driver-initiated automated lane-change systems (Category C ASCF) and for automated emergency steering functions (ESF). This proposal includes amendments the annex on complex electronic systems (Annex 6), in particular, to require auditing of the methodologies used to ensure system safety at both concept and system level. The concept level specifically requires consideration of interaction with other vehicle systems.

UN R79 | Revision 3 | Amendment 2 (2018)
2 Nov 2018 2019-03-21 14:12:17 UTC 3 2
UN R79 | Revision 4 | Amendment 1 (2020)
17 Jan 2020 2021-01-04 07:38:39 UTC 4 1 03 series of amendments | Supplement 1 Based upon the adopted proposal: WP.29/2019/73

Proposal to clarify requirements of the optical signal for a CSF intervention to ensure sufficient flashing tell-tale visibility for the driver, to specify the duration of such ACSF signals, to ensure a safe hierarchy of signals (e.g., ESF over CSF) by priority, to clarify that deactivation when departing an ODD means the “off mode”, and to add a cross-reference pointing to paragraphs that define cases of manual and automatic deactivation.

UN R79 | Revision 4 | Amendment 2 (2020)
2 Nov 2020 2021-01-04 07:40:12 UTC 4 2 03 series of amendments | Supplement 2 Based upon the adopted proposal: WP.29/2020/11

Proposal to introduce provisions for

  • the approval of Remote Control Manoeuvring (RCM) systems
  • a “two-step Human Machine Interface” in the requirements for Automatically Commanded Steering Functions (ACSF) of Category C lane-change functions, and
  • to resolve measurement concerns in the test requirements for ACSF of Category B1 and C by introducing provisions for tolerances, including:
    • inclusion of the position at which the lateral acceleration was measured and the position of the centre of gravity of the vehicle for better traceablility,
    • sampling rate of at least 100 Hz for dynamic testing,
    • specification of filters and cut-off frequency for determination of lateral acceleration,
    • option to measure “overriding force” torque via an internal sensor or an external device (e.g., steering robot).

UN R79 | Revision 4 | Amendment 3 (2021)
2 Feb 2021 2021-02-25 15:10:27 UTC 4 3 03 series of amendments | Supplement 3 Based upon the adopted proposal: WP.29/2020/67

Proposal to stipulate that “Automatic deactivation by the system of the direction indicator is required only if the lane change manoeuvre is initiated automatically, and if the direction indicator control is not fully engaged (latched position) during the lane change manoeuvre.” The proposal also would modify the high-speed test to end once the system has given an optical “hands-off” warning since the entire warning cascade is checked during the low-speed test. For M2 and M3 vehicles, the amendment allows a corrective steering function to use haptic signals as an alternative to acoustic signals for these categories of vehicles that are equipped with Lane Departure Warning System compliant with UN R130. This change would specify that the haptic warning may not be given solely via the steering wheel (e.g., provided in the driver’s seat).

UN R79 | Revision 3 | Amendment 3 (2021)
2 Feb 2021 2021-02-25 15:12:12 UTC 3 3 02 series of amendments | Supplement 2 Based upon the adopted proposal: WP.29/2020/66

Proposal to resolve measurement concerns in the test requirements for ACSF of Category B1 and C by introducing provisions for tolerances, including:

  1. inclusion of the position at which the lateral acceleration was measured and the position of the centre of gravity of the vehicle for better traceablility,
  2. sampling rate of at least 100 Hz for dynamic testing,
  3. specification of filters and cut-off frequency for determination of lateral acceleration,
  4. option to measure “overriding force” torque via an internal sensor or an external device (e.g., steering robot).

The proposal also would modify the high-speed test to end once the system has given an optical “hands-off” warning since the entire warning cascade is checked during the low-speed test. For M2 and M3 vehicles, the amendment allows a corrective steering function to use haptic signals as an alternative to acoustic signals for these categories of vehicles that are equipped with Lane Departure Warning System compliant with UN R130. This change would specify that the haptic warning may not be given solely via the steering wheel (e.g., provided in the driver’s seat).

Earlier texts may be available through the UN Official Document System.