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.

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.

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.

57. The Secretary of the IWG on Automatically Commanded Steering Function (ACSF) presented (GRRF-83-27) the modifications proposed (GRRF-83-08) to the document already adopted by GRRF at its September 2016 session (ECE/TRANS/WP.29/2017/10) and subject to reconfirmation by GRRF.

58. GRRF reviewed the proposal made by the IWG (GRRF-83-08), briefly mentioned GRRF-83-21 and discussed the necessity to submit the document as the draft 02 series amendments to Regulation No. 79.

59. GRRF discussed the proposal made by OICA (GRRF-83-22) under agenda item 3(a) in the context of the definitions for Corrective Steering Function (CSF) and ACSF discussed under this agenda item. GRRF agreed to resume consideration on this item at its next session.

60. At the end of the formal meeting, GRRF adopted the proposal as amended by GRRF-83-08-Rev.2. GRRF also agreed to invite the secretariat to continue, after the closure of the meeting, drafting the transitional provisions (corresponding to the intention of GRRF expressed during the session) together with the interested experts still present (GRRF-83-08-Rev.3).

61. GRRF requested the secretariat to submit the adopted amendments (reproduced in Annex V) to ECE/TRANS/WP.29/2017/10 to WP.29 and AC.1 for consideration and vote at their March 2017 sessions. Annex V also contains Transitional Provisions in square brackets. These provisions were not part of adopted amendments but are nevertheless forwarded to WP.29 for consideration.

45. The GRRF chair informed that GRRF reconfirmed ECE/TRANS/WP.29/2017/10 proposing a new series of amendments to Regulation No. 79 (Steering equipment) with provisions for Corrective Steering Function (CSF) and Automatically Commanded Steering Function (ACSF), but proposed amendments and clarifications to the document as reproduced in WP.29-171-06. He highlighted that some dates were still in square brackets.

69. Concerning the proposal under item 4.7.3., WP.29 took note that the technical provisions were proposed to WP.29 and AC.1 on the basis of a consensus by GRRF. The Chair of GRRF informed WP.29 that GRRF did not conclude their discussion on the dates of the transitional provisions, necessary for the introduction of the technical requirements as the 02 series of amendments to Regulation No. 79. WP.29, with the exception of Japan, agreed that this policy matter should be decided during this session. The representative from OICA introduced WP.29-171-28 proposing to align the transitional provisions on those in the guidelines proposed in ECE/TRANS/WP.29/2017/53 as well as proposing alternative transitional provisions dates. The representative from Japan introduced WP.29-171-34 expressing concerns that the application date of the new technical requirements for all types of vehicles was decided without an ad hoc meeting of GRRF and that the application date could have some influence for existing models equipped with these functions being beneficial for safety that would need to be modified to comply with the 02 series of amendments to UN Regulation No.79. He proposed to discuss this issue before next June session and introduce a footnote in the Regulation stating that the date mentioned in para. 12.3 (“[2021/2024]”) may be reassessed at the 172nd session of WP.29. The representative of OICA welcomed the statements by the representative of Japan and explained that the proposed 02 series of amendments to UN Regulation No. 79 entailed far more than software changes and that the implications were far-reaching, as detailed in WP.29-171-28. The secretariat mentioned that the proposed footnote (if adopted) would not take effect before the potential entry into force of this 02 series, expected in January 2018 and proposed instead to insert the corresponding information in the session report, recalling the wish of Japan to reassess para. 12.3. at the June 2017 session of WP.29. The representative of EU mentioned that fatalities occurred in the past related to the misuse of these advanced technologies and informed about their mandate to vote in favour of the current proposed text at this session on the basis of the year 2021 as an application date.

70. Agenda item 4.7.3, Regulation No. 79, ECE/TRANS/WP.29/2017/10, amend the document as reproduced in Annex IV to the session report.

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).

45. The GRRF chair informed that GRRF reconfirmed ECE/TRANS/WP.29/2017/10 proposing a new series of amendments to Regulation No. 79 (Steering equipment) with provisions for Corrective Steering Function (CSF) and Automatically Commanded Steering Function (ACSF), but proposed amendments and clarifications to the document as reproduced in WP.29-171-06. He highlighted that some dates were still in square brackets.

69. Concerning the proposal under item 4.7.3., WP.29 took note that the technical provisions were proposed to WP.29 and AC.1 on the basis of a consensus by GRRF. The Chair of GRRF informed WP.29 that GRRF did not conclude their discussion on the dates of the transitional provisions, necessary for the introduction of the technical requirements as the 02 series of amendments to Regulation No. 79. WP.29, with the exception of Japan, agreed that this policy matter should be decided during this session. The representative from OICA introduced WP.29-171-28 proposing to align the transitional provisions on those in the guidelines proposed in ECE/TRANS/WP.29/2017/53 as well as proposing alternative transitional provisions dates. The representative from Japan introduced WP.29-171-34 expressing concerns that the application date of the new technical requirements for all types of vehicles was decided without an ad hoc meeting of GRRF and that the application date could have some influence for existing models equipped with these functions being beneficial for safety that would need to be modified to comply with the 02 series of amendments to UN Regulation No.79. He proposed to discuss this issue before next June session and introduce a footnote in the Regulation stating that the date mentioned in para. 12.3 (“[2021/2024]”) may be reassessed at the 172nd session of WP.29. The representative of OICA welcomed the statements by the representative of Japan and explained that the proposed 02 series of amendments to UN Regulation No. 79 entailed far more than software changes and that the implications were far-reaching, as detailed in WP.29-171-28. The secretariat mentioned that the proposed footnote (if adopted) would not take effect before the potential entry into force of this 02 series, expected in January 2018 and proposed instead to insert the corresponding information in the session report, recalling the wish of Japan to reassess para. 12.3. at the June 2017 session of WP.29. The representative of EU mentioned that fatalities occurred in the past related to the misuse of these advanced technologies and informed about their mandate to vote in favour of the current proposed text at this session on the basis of the year 2021 as an application date.

70. Agenda item 4.7.3, Regulation No. 79, ECE/TRANS/WP.29/2017/10, amend the document as reproduced in Annex IV to the session report.

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.

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.

57. The GRRF chair mentioned that document ECE/TRANS/WP29/2018/35 would still contain square brackets. WP.29 agreed to remove the square brackets and to agree on transitional provision dates (as reflected in para. 92).

92. In ECE/TRANS/WP.29/2018/35, paragraphs 2.1.4., amend to read:

93. WP.29 noted the concern raised by the representative of OICA on the selection of an early date of application for the transitional provisions in paragraphs 12.2.3. and 12.2.4., which could create serious development difficulties, due to the introduction of new requirements compared to the very recently adopted 02 series of amendments, while vehicles are currently under development for the latter.

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.

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).

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).

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).

Proposal from GRVA to introduce a “risk mitigation function” (RMF) to enable an automated emergency response to driver incapacitation or unresponsiveness during use of an automatically commanded steering function.

99. The Chair of GRVA presented draft amendment proposals contained in documents ECE/TRANS/WP.29/2021/72 and ECE/TRANS/WP.29/2021/82 as amended by WP.29-184-05, reproduced in Annex VI, under agenda items 4.8.1 and 4.8.2., to amend UN Regulation No. 79. The World Forum recommended their submission to AC.1 for voting.

GRVA received a progress report of the Task Force on Advanced Driver Assistant Systems (ADAS).

GRVA requested the secretariat to submit ECE/TRANS/WP.29/2021/82 as amended by GRVA-10-38 (as amended in session) to WP.29 and AC.1 for consideration and vote at their June 2021 sessions. The corresponding WP.29 document is informal document WP.29-184-05.

Amendments as agreed during the 10th (May 2021) GRVA session to the proposal to introduce a “risk mitigation function” (RMF) to enable an automated emergency response to driver incapacitation or unresponsiveness during use of an automatically commanded steering function.

99. The Chair of GRVA presented draft amendment proposals contained in documents ECE/TRANS/WP.29/2021/72 and ECE/TRANS/WP.29/2021/82 as amended by WP.29-184-05, reproduced in Annex VI, under agenda items 4.8.1 and 4.8.2., to amend UN Regulation No. 79. The World Forum recommended their submission to AC.1 for voting.

GRVA received a progress report of the Task Force on Advanced Driver Assistant Systems (ADAS).

GRVA requested the secretariat to submit ECE/TRANS/WP.29/2021/82 as amended by GRVA-10-38 (as amended in session) to WP.29 and AC.1 for consideration and vote at their June 2021 sessions. The corresponding WP.29 document is informal document WP.29-184-05.

Proposal to amend Annex 8 (Test requirements for Corrective and Automatically Commanded Steering Functions (ACSF)), paragraph 3.5. (Tests for ACSF of Category C) in order to clarify that enabling of the system as part of the test procedure is only necessary when the system is not yet enabled.

Proposal to

1. Align lane-centering provisions with principles applied to UN R157 (ALKS)
2. Permit Category C ACSF to remain in stand-by during temporary roadway transitions
3. Clarify overriding provision (para. 5.6.4.3) reference to stand-by mode
4. Introduce a tolerance factor for “critical situation” lane changes
5. clarification to test conditions
6. Align direction indicator deactivation under a pass conditions with previously adopted provisions.

Proposal from GRVA to allow continuous movement of the driver as an alternative to the continuous actuation of the remote-control device as a means to assure driver attentiveness.

Proposal from GRVA to allow continuous movement of the driver as an alternative to the continuous actuation of the remote-control device as a means to assure driver attentiveness.

Proposal from GRVA to allow continuous movement of the driver as an alternative to the continuous actuation of the remote-control device as a means to assure driver attentiveness.

Proposal to clarify that a continuation of support by a Category B1 ACSF after its boundary conditions have been exceeded may not be possible under conditions as outlined in the manufacturer’s safety concept.

Proposal to clarify that a continuation of support by a Category B1 ACSF after its boundary conditions have been exceeded may not be possible under conditions as outlined in the manufacturer’s safety concept.

Proposal to clarify the cascade of actions regarding activation of ACSF B1 and C and the indication on when the vehicle has entered an eligible road based on the following justification:

1. When the same means is used by the driver to simultaneously activate the Automatically Commanded Steering Function of Category B1 (ACSF B1) and of Category C (ACSF C), both functions switch to standby mode when the vehicle enters an ACSF C eligible road. But if the road is non-eligible to ACSF C, then only the ACSF B1 is activated.
2. With the current text of the regulation, once the vehicle moves to an ACSF C eligible road, the driver must operate again the means to activate the ACSF C. This second deliberate action is confusing for the driver since it makes the manipulation more complex. The current wording discourages most drivers from using this assistance function.
3. The proposed wording permits the following, logical, cascade of actions:
   1. The driver has done a deliberate action to activate ACSF B1 and ACSF C (on a non-eligible road); then
   2. He drives into an eligible road, and is clearly informed thereof; then
   3. He initiates a lane change procedure by activating e.g. the direction indicator.
4. This amendment further clarifies the requirement on the indication of when the vehicle enters an eligible road. It gives some examples of the type of indication to be given to the driver, e.g. additional popup or blinking indication, without being design restrictive.
5. A dedicated status indication of an ACSF C off-mode is by nature already different from the standby or active indication. Therefore, the driver is already sufficiently informed on a potential status change.
6. Regarding paragraph 5.6.4.2.3.: While entering the eligible road, the driver may be distracted or annoyed by this “prominent” indication. His attention resources shall be totally available during this phase. So the system would switch automatically to standby mode when fulfilling these two conditions: reaching an eligible and regular lane of travel. This second condition may be fulfilled for example by implementing a suitable time delay or by a direct verification of the lane of travel. These criteria should be explained, agreed between the technical service and the vehicle manufacturer.

Proposal to clarify the cascade of actions regarding activation of ACSF B1 and C and the indication on when the vehicle has entered an eligible road based on the following justification:

1. When the same means is used by the driver to simultaneously activate the Automatically Commanded Steering Function of Category B1 (ACSF B1) and of Category C (ACSF C), both functions switch to standby mode when the vehicle enters an ACSF C eligible road. But if the road is non-eligible to ACSF C, then only the ACSF B1 is activated.
2. With the current text of the regulation, once the vehicle moves to an ACSF C eligible road, the driver must operate again the means to activate the ACSF C. This second deliberate action is confusing for the driver since it makes the manipulation more complex. The current wording discourages most drivers from using this assistance function.
3. The proposed wording permits the following, logical, cascade of actions:
   1. The driver has done a deliberate action to activate ACSF B1 and ACSF C (on a non-eligible road); then
   2. He drives into an eligible road, and is clearly informed thereof; then
   3. He initiates a lane change procedure by activating e.g. the direction indicator.
4. This amendment further clarifies the requirement on the indication of when the vehicle enters an eligible road. It gives some examples of the type of indication to be given to the driver, e.g. additional popup or blinking indication, without being design restrictive.
5. A dedicated status indication of an ACSF C off-mode is by nature already different from the standby or active indication. Therefore, the driver is already sufficiently informed on a potential status change.
6. Regarding paragraph 5.6.4.2.3.: While entering the eligible road, the driver may be distracted or annoyed by this “prominent” indication. His attention resources shall be totally available during this phase. So the system would switch automatically to standby mode when fulfilling these two conditions: reaching an eligible and regular lane of travel. This second condition may be fulfilled for example by implementing a suitable time delay or by a direct verification of the lane of travel. These criteria should be explained, agreed between the technical service and the vehicle manufacturer.

Proposal to address cross-referencing issues in UN Regulation No. 79 with respect to UN Regulation No. 130 (Lane Departure Warning System), especially with regard to Australian lane marking specifications.

Proposal to address cross-referencing issues in UN Regulation No. 79 with respect to UN Regulation No. 130 (Lane Departure Warning System), especially with regard to Australian lane marking specifications.