The draft document identifies potential research questions for ACPE (Acceleration Control for Pedal Error) systems across three categories: basic data collection on system specifications and cost-benefit analysis; performance requirements and test procedures; and human factors analysis. Research priorities include surveying existing ACPE technologies, analyzing accident data and system costs, establishing control philosophy, defining triggering conditions, and investigating pedal misapplication.

The Informal Working Group on Advanced Emergency Braking System held its first session on 22 April 2026. Focus was confirmed on passenger cars of category M₁ and light vehicles under UN Regulation 152, with heavy vehicles explicitly excluded. The group’s Terms of Reference outline five core tasks. A meeting timeline from April 2026 to September 2028 was proposed, with delivery of an amendments proposal on UN Regulation 152 by September 2028. The co-Chairs called for accidentology data from all Contracting Parties.

Proposal to amend UN R157, including Annex 4, paragraph 3.5.4, requiring manufacturers to monitor safety-relevant incidents and report critical incidents to type-approval authorities, a new paragraph 3.5.4.1 to require approval authorities to upload remedial action information to the DETA database within 14 days, and a new Annex 7 to provide guidance for authorities on using DETA to exchange incident information.

Proposal to amend the regulation to enable application to ADS vehicles, including: Proposal to amend braking equipment functions for Automated Driving Systems:

• clarify braking equipment functions for Automated Driving Systems,
• define transmission control and energy transmission,
• specify secondary and parking braking system requirements for ADS-equipped vehicles,
• permit disabling braking controls during ADS operation,
• establish testing procedures for vehicles of categories X and Y without manual driving controls,
• allow alternative static condition brake actuation testing.

Proposal to enable application to ADS vehicles:

• Amend the introductory text,
• Delete para. 1.2.4.,
• Amend paras. 2.3., 2.3.2., 2.3.4., 2.5.1.1.3., 2.15., 2.16., 4.4.3., 5.1.1., 5.1.2., 5.1.5., 5.4., 5.6.1., 5.6.1.2.9., 5.7.1., 5.8., 5.8.3., 6.1.4., 6.2., Annex 1 para. 5.6., Annex 4 para. 2.3.1., Annex 7 paras. 2.1.2. and 3.5.,
• Insert new paras. 2.5.1.1.4., 3.2.4., 5.1.1.1.–5.1.1.3., 5.5.3., 5.8.4.–5.8.6.3., 6.2.6.–6.2.9., 12.4.–12.4.7., Annex 1 paras. 5.6.1.–5.6.3., and Annex 3 para. 1.4.,
• Renumber former paras. 12.4. and 12.5.1. as 12.5. and 12.5.1.,
• From entry into force, no refusal of approvals under amended Regulation,
• From 1 September 2027, no obligation to accept prior series approvals first issued after that date,
• Until 1 September 2029, continued acceptance of prior series approvals first issued before that date,
• From 1 September 2029, no obligation to accept prior series approvals,
• Until 1 September 2030, type approvals may be granted for Automated Lane Keeping System vehicles not complying with para. 5.8.

Proposal to amend UN R86 braking and stability control requirements for Automated Driving Systems:

• Delete para. 1.2.5.,
• Amend para. 2.3. to specify that braking system functions are set out in para. 5.1.2.,
• Amend para. 2.5. to clarify transmission definition and composition,
• Amend para. 2.34.2.1. to define directional control as assisting driver or ADS in maintaining intended direction,
• Amend para. 5.1.2.1. to specify service braking system requirements for control and halting,
• Amend para. 5.1.2.2. to specify secondary braking system requirements including graduated action and steering control,
• Amend para. 5.1.2.3. to specify parking braking system requirements and mechanical locking,
• Amend para. 5.1.4.7. to require verification of electronic braking system status,
• Amend para. 5.2.1.2.1. to specify brake control requirements and return-to-off positions,
• Amend para. 5.2.1.2.7.2. to require independent energy reserves and warning devices,
• Amend para. 5.2.1.26.4. to permit parking brake application after powertrain deactivation and automatic application when vehicle stationary or driver leaves seat,
• Amend para. 5.2.1.26.5. to permit warning actuation delay until parking brake clamping detected,
• Amend para. 5.2.1.31. to specify emergency braking signal generation from service braking system application,
• Amend para. 5.2.2.24.6.3. to require pneumatic and electric control lines and automatic brake application for incompatible trailer connections,
• Amend para. 5.3. to introduce special provisions for vehicles equipped with Automated Driving System,
• Amend para. 5.3.3. to require transmission of warnings and detected faults to ADS before feature activation,
• Insert new para. 5.3.4. to permit disabling braking controls while ADS feature active,
• Insert new Annex 4 para. 1.1.3. permitting dedicated activation methods for vehicles of categories X and Y,
• Insert new Annex 4 para. 1.1.4. requiring manual driving mode testing for ADS-equipped vehicles,
• Amend Annex 19 Part 2 para. 1.1.4.1.4. to specify engine control independence from driver or ADS demand,
• Amend Annex 19 Part 2 para. 1.1.4.1.6. to reference driver or ADS selected locking,
• Amend Annex 21 para. 2.1.1. to specify vehicle stability function requirements and transmission to ADS while active,
• Amend Annex 21 para. 2.1.2. to detail function components and on-board information requirements,
• Amend Annex 21 para. 2.1.4. to require indication of interventions to driver or ADS,
• Amend Annex 21 para. 2.1.5. to specify failure detection and indication to driver or ADS,
• Amend Annex 21 para. 2.1.6. to require warning when trailer provides VDC Active information,
• Amend Annex 21 Appendix 2 para. 2.1. to specify validation test requirements and recorded motion variables,
• Amend Annex 22 para. 3.6. to require user handbook warnings about connector compatibility and marking specifications for automated connectors.

Proposal to insert a new paragraph 1.2. stating that this Regulation does not apply to vehicles equipped with an ALKS that has been approved as an ADS feature in accordance with the UN Regulation on the approval of vehicles equipped with an Automated Driving System (i.e., where the ALKS has already been approved under the ADS regulation).

Proposal to delete footnote in paragraph 1; add bicycle impact avoidance to scope; amend paragraphs 2.13 and 2.14 regarding road adhesion definitions and Peak Braking Coefficient measurements; amend paragraph 5.4.2.3 requiring two deliberate actions for AEBS deactivation via ESC; renumber footnotes 2 through 9; and insert new paragraphs 5.4.4.1 to 5.4.4.3 to establish special provisions for vehicles equipped with an ADS.

Proposal to amend Annex 4 and introduce Annex 7 regarding critical incident reporting:

• Amend paragraph 3.5.4 to require the manufacturer to report critical incidents to the granting type-approval authority
• Insert new paragraph 3.5.4.1 requiring the type approval authority to upload information received from the manufacturer in English language to the secure internet database “DETA” without undue delay but no later than 14 days after receipt
• Introduce new Annex 7 providing guidance for data exchange via DETA in accordance with paragraph 3.5.4.1.

Proposal to insert new paragraph 1.2.3 relating to vehicles of categories X and Y, amend footnotes 1 and 3 to reference the Consolidated Resolution on the Construction of Vehicles (R.E.3.), document ECE/TRANS/WP.29/78/Rev.8, and insert new paragraph 5.7 stating that while an ADS feature is active, the BAS shall not influence the performance of the braking system.

Proposal to introduce clarifications and references to lane markings and ELKS provisions:

• Include ELKS effectiveness not be adversely affected by magnetic or electrical fields per UN R10 05 series
• Vehicle operating instructions include situations where ELKS is automatically deactivated
• Reference lane markings in UN R130 01 series amendments in paragraphs 6.5.2, 6.6.2.1, 7.2.1, and 8.2.1
• Amend tyre pressure and warning threshold test procedures
• Insert transitional provisions (May 2027-May 2029)

Proposal to amend paragraph 2.14. to clarify that road surface friction coefficient of at least the specified Peak Braking Coefficient represents minimum values; amend paragraph 5.2.1.1. to align collision warning requirements with pedestrian and bicycle scenarios, requiring collision warning no later than 0.8 seconds before emergency braking or at braking start if anticipation time is insufficient; amend paragraph 5.2.1.2. to clarify that emergency braking involves a braking demand of at least 5.0 m/s² to the service braking system, permitting higher demands during collision warning for short durations.

Proposal to amend paragraph 5.4.2.3. of the 01 series of amendments and the original version to UN R152 to require at least two deliberate actions by the driver where automatic deactivation of the AEBS function is a consequence of the driver manually switching off the ESC function of the vehicle. Footnotes 2 to 8 in the 01 series are renumbered to accurately reference correct footnotes. This revision addresses GRVA-24-04.

Proposal to insert new paragraphs 3.1.1, 3.1.2, 3.2.2, and 4.6 to 4.6.6 in UN Regulation No. 157. The manufacturer shall provide approval authorities with a single point of contact, expected granting approval authority, and brief details of the ALKS and its ODD prior to application for approval. The granting approval authority shall inform receiving approval authorities of territories where ALKS can be active and provide specified information at least 30 days before granting approval. Receiving approval authorities may provide comments within 30 days, with disputes resolved per the 1958 Agreement. These provisions apply to both the original version and the 01 series of amendments, referencing WP.29/343.

Proposal to correct paragraph 5.6.1.2.9. of Supplement 1 to the 04 series of UN R79, Supplement 6 to the 03 series of UN R79, and Supplement 3 to the 02 series of UN R79. For RCP systems based on detection of driver position and movement, the deactivation referred to in paragraph 5.6.1.1.3. shall be through a simple and obvious action that will be recognised by the system.

Proposal to insert new Paragraph 6.2.5.1.1. into UN R79 (Supplements 17 to 03 series and 12 to 04 series):

• Insert new Paragraph 6.2.5.1.1. into UN R79
• If requested by the vehicle manufacturer, the vehicle may undergo up to ten figure-eight manoeuvres, where each loop of the figure is 40m diameter at 10km/h speed with intact steering equipment, before the measurement of steering efforts with a failure in the steering equipment
• Clarify pre-test conditions for measuring steering effort under a failure condition
• Stabilize power steering oil temperature, particularly for vehicles of category N₃ and M₃

Proposal to amend paragraph 5.2.1.31. to specify that when a vehicle is equipped with the means to indicate emergency braking, activation and deactivation of the emergency braking signal shall only be generated by the application of the service braking system regardless of its means of activation when the specified conditions are fulfilled.

Proposal to modify paragraph 5.2.1.31 to clarify that when a vehicle is equipped with means to indicate emergency braking, activation and deactivation of the emergency braking signal shall only be generated by application of the service braking system regardless of its means of activation under the specified conditions.

Proposal to amend paragraph 5.2.1.31. regarding activation and de-activation of the emergency braking signal. When a vehicle is equipped with the means to indicate emergency braking, activation and de-activation of the emergency braking signal shall only be generated by the application of the service braking system regardless of its means of activation when the specified conditions are fulfilled.