Proposal to insert a new Introduction section to the regulation in order to highlight technical issues related to the installation of LDWS on some specific vehicles included in the scope of the regulation.

Proposal to amend the Introduction of the regulation to highlight technical issues related to the installation of AEBS on some specific vehicles included in the scope of the regulation.

Proposal to establish a uniform CoP inspection questionnaire to harmonize conformity of production administrative requirements across Contracting Parties under UN R90. The intent is to increase efficiency and lower costs due to the absence of mutual recognition of CoP certifications among approval authorities.

Updated version of the draft text under development within the ACSF informal group, based upon the previous version in document ACSF-04-20.

Comments on the draft test procedures as described in the draft text of document ACSF-04-20.

Proposal to define and require countermeasures to ensure that a driver remains available to assume control of a vehicle from an automated lane-keeping/steering system as conditions warrant. This document proposes definitions for a “driver attention recognition [system/function]” and/or a “driver attention confirmation [system/function]”.

Updated version of the proposal to remove tables specifying general values for replacement discs and drums that are identical to the original (2.3.3.4) since such replacements must by definition have values identical to the corresponding original parts. The proposal also would change the maximum permitted thickness variation of discs for medium and heavy vehicles from 0.030 mm to 0.050 mm (the common OEM specification). This revised proposal clarifies that the proposal would revise the specifications for vehicles of categories M3, N3, O3 and O4 but retain the maximum permitted specification of 0.030mm for vehicles of categories M2 and N2.

Presentation highlighting the growing use of carbon-ceramic (CSiC) brake discs and the need to address these products under UN R90 given that the replacement discs regulation is founded upon conventional cast iron technologies.

Presentation on paragraph 5.6.1.4 of the draft amendment to UN R79 intended to enable the approval of automatically controlled steering functions at speeds above 10 km/h. This paragraph concerns transitions between the human driver and the automated steering system.

Overview of proposed test modes/procedures for Category E automatically commanded steering systems.

Proposed changes to the working draft text ACSF-04-20.

OICA presentation on approaches and trade-offs in handling driver availability for transitions between automated vehicle system and human driver.

OICA and CLEPA note that the current work on ACSF does not address class O vehicles (trailers) and therefore leaves unsettled the issue of heavy-duty commercial vehicles. The two groups signal that the informal group must coordinate with the GRRF to ensure that trailers are eventually incorporated in the ACSF approval procedures under UN R79.

Schematic flow of events and responses for automatically commanded steering functions, including transition demands and fall-back on minimum risk maneuvers by the system.

Table of requirements for automatically commanded steering function capabilities (e.g., hazard warning activation, driver alerts, minimum risk maneuvers, etc.) according the ACSF category.

Test procedure application for advanced systems of category D depending upon the steering configuration per category B (B1:hands-on with detection system steering, B2: hands-off enabled steering).

Updated list of functions/capabilities per ACSF category, including B1 and B2 categories addressing “hands-on” and “hands-off” lane-keeping.

Document GRRF/2016/20 proposes 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. Although this proposal was approved in principle at the 80th GRRF session, it was agreed that the proposal would be reviewed at the 81st GRRF to define an open value [X] in paragraph 2.1.1. of Annex 5. It has subsequently been concluded that this change to paragraph 2.1.1. is not needed. Therefore, this proposal removes the change to the paragraph from GRRF/2016/20.

Presentation on French government views on the approval of automated steering at speeds above 10 km/h under UN Regulation No. 79. The principle recommendation is to restrict amendments to UN R79 to lateral vehicle control as speeds above 10 km/h while setting other work on more advanced capabilities (longitudinal + latitudinal, lane change, passing, etc.) for future separate regulations.

Consolidated draft for the approval of automated steering systems pursuant to the discussions and decisions of the 5th ACSF informal group session (January 2016).

Working draft from the ACSF informal group to enable the approval of automated steering systems intended to operate at speeds greater than 10 km/h presented for information and discussion at the 81st GRRF session.

UN R13 allows for the exemption of certain vehicles from the requirement for electronic stability controls. This proposal seeks to clarify the scope of the exemptions to include any special purpose vehicle with a non-standard chassis. The change was prompted by a modified vehicle where use of ESC was not feasible, but where the current UN R13 language left doubt as to whether the ESC requirement was applicable.

Revised version of document GRRF/2016/6 pursuant to discussions held during the February 2016 GRRF session proposing to delete provisions for electronic stability and brake-assist systems from UN R13-H as part of their transposition into new stand-alone regulations.

Revised version of document GRRF/2016/7 pursuant to discussions held during the February 2016 GRRF session, proposing a new UN Regulation based upon brake-assist system provisions extracted from UN R13-H.

Revised version of document GRRF/2016/8 pursuant to discussions held during the February 2016 GRRF session, proposing a new UN Regulation comprised of provisions concerning electronic stability control systems extracted from UN R13-H.

UN R90 specifies one minimum shear strength requirement for brake shoe assemblies and one requirement for brake pad assemblies in Regulation No. 90 via a reference to ISO 6312. However, ISO 6312 specifies test methods for hot and cold shear tests. Therefore, GRRF is requested to clarify whether the strength requirements are for both hot and cold shear.

Revised proposal to align UN R78 with the provisions for anti-lock braking systems used in other regulations, including specific exemptions for certain off-road vehicles as incorporated in UN Regulation No. 13. The proposal clarifies the limits on the use of any temporary ABS deactivation switch and prohibition against permanent disabling of ABS if fitted on a motorcycle. The European Commission prepared this revised proposal in cooperation with Germany, the Netherlands and IMMA. Given the importance of the changes, the proposal includes transitional provisions.

Presentation explaining the proposal to establish requirements for the approval of replacement brake lining assemblies for L-category vehicles.

Revised version of the proposal to remove tables specifying general values for replacement discs and drums that are identical to the original (2.3.3.4), taking into account comments received during the February 2016 GRRF session. The tables are considered superfluous since replacement parts identical to the original parts must by definition have values identical to the corresponding original parts. This proposal also would change the maximum permitted thickness variation of discs for medium and heavy vehicles from 0.030 mm to 0.040 mm (the common OEM specification). This has been changed from the previous proposal of 0.050 mm. This revised proposal clarifies that the proposal would revise the specifications for vehicles of categories M3, N3, O3 and O4 but retain the maximum permitted specification of 0.030mm for vehicles of categories M2 and N2.

UN R13 allows for the exemption of certain vehicles from the requirement for electronic stability controls. This proposal seeks to clarify the scope of the exemptions to include any special purpose vehicle with a non-standard chassis. The change was prompted by a modified vehicle where use of ESC was not feasible, but where the current UN R13 language left doubt as to whether the ESC requirement was applicable. This revised proposal takes into account comments received during the February 2016 GRRF session.

Revised proposal to align UN R78 with the provisions for anti-lock braking systems used in other regulations, including specific exemptions for certain off-road vehicles as incorporated in UN Regulation No. 13. The proposal clarifies the limits on the use of any temporary ABS deactivation switch and prohibition against permanent disabling of ABS if fitted on a motorcycle. This revised proposal takes into account comments received during the February 2016 GRRF session.

The previous GRRF session considered a proposal to add a trigger threshold requirement and to modify the sampling rate, deceleration limit and data selection criteria for category B brake-assist systems. CLEPA has provided this presentation to clarify the background behind the BAS provisions and facilitate further discussion.

Technical services have reported difficulties in interpreting the requirements and procedures incorporated in the 02 series of amendments to UN R90. Therefore, this submission proposes a special interest group to consider whether an informal working group may be needed to revised UN 92.02.

Review of work towards adapting and/or approving certain UN Regulations for use within the International Whole Vehicle Type Approval regulation.

Working draft under development within the Modular Vehicle Combinations informal group to introduce provisions into UN Regulation No. 13 to specify uniform requirements for towing trailers and motor vehicles which may tow more than one trailer (road train combinations). This proposal is being developed based upon a 2009 draft proposal (document GRRF-66-08) discussed within the GRRF.

Copy of document GRRF-81-14: Presentation on French government views on the approval of automated steering at speeds above 10 km/h under UN Regulation No. 79. The principle recommendation is to restrict amendments to UN R79 to lateral vehicle control as speeds above 10 km/h while setting other work on more advanced capabilities (longitudinal + latitudinal, lane change, passing, etc.) for future separate regulations.

Proposal to require the installation of a message routing function (per ISO 11992) on trailers that are:

• equipped with more than one brake electronic control unit,
• equipped with an electric control, and
• towing a trailer.

Proposal from the Working Party on Dangerous Goods to delete paragraph 2.2.1 and 2.3.2 in Annex 5 of Regulation No. 13 permitting the use of an endurance braking system on a trailer to compensate for insufficient performance of the endurance braking system of the motor vehicles. Such systems have been prohibited by WP.15 such that alignment of the vehicle technical requirements is needed.

UK input to confirm basic understanding of the proposed categories of corrective steering and automatically commanded steering functions and to propose requirements under each category.

Proposed changes to the draft amendment to UN R79 on automatically commanded steering functions.

Changes proposed by Germany to the draft ACSF amendment (document ACSF-05-16)

Proposal for corrections to the text and equations.

Proposal to delete provisions for electronic stability and brake-assist systems from UN R13-H as part of their transposition into new stand-alone regulations. This proposal also clarifies the requirements on electromagnetic compatibility via reference to Regulation No. 10.

Proposal to include three-wheeled category L vehicles within the scope of ABS testing, to align UN R78 with the provisions for anti-lock braking systems used in other regulations, including specific exemptions for certain off-road vehicles as incorporated in UN Regulation No. 13, and to allow for Emergency Stop Signal (ESS) systems on motorcycles and related vehicles. The proposal also clarifies the limits on the use of any temporary ABS deactivation switch and prohibition against permanent disabling of ABS if fitted on a motorcycle.

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 provisions for the approval of replacement brake discs for L-category (motorcycle and related) vehicles, to remove tables specifying general values for replacement discs and drums that are identical to the original, change the maximum permitted thickness variation of discs for medium and heavy vehicles from 0.030 mm to 0.040 mm, and clarify the text in order to avoid additional administrative and financial costs to the applicant due to misinterpretation of the intent of the text.

Proposal for a new UN Regulation based upon brake-assist system provisions extracted from UN R13-H in order to facilitate work on the international whole vehicle type approval system.

Proposal for a new UN Regulation comprised of provisions concerning electronic stability control systems extracted from UN R13-H in order to facilitate work on the international whole vehicle type approval system.

Proposals to delineate the difference between corrective steering (driver assistance) and automatically commanded steering (automated driving) functions, clarify the definition of Complex Electronic Systems, require system deactivation when sensors are blocked, and to require indication of the level/version of software in use.

Proposals to clarify that references to “other road users” includes pedestrians and large animals and, with respect to ensuring the driver’s availability to assume control of the vehicle, a time frequency limit for driver monitoring systems based upon the time required to travel a distance of 1500 m with an upper limit of 180 seconds (i.e., the time required to travel 1500 m at 30 km/h).

Proposal for amendments to the provisions on Data Storage Systems for ACSF under the draft amendment to enable the use of automated steering systems at higher speeds under UN R79.

Presentation supporting changes proposed by Germany in document ACSF-06-05.

Presentation and supporting materials to facilitate discussion towards clarifying provisions on sensor range and monitoring of the vehicle environment.

Discussion of parameters to delineate corrective steering function (CSF) from automatically commanded steering function (ACSF) systems. The former refers to intermittent systems such as lane-keeping while the latter refers to systems in continuous control of the steering function.

Proposal to refine the language ensuring that drivers may override the ACSF system through deliberate action.

NTSEL study into the effect of automated steering on the level of driver alertness. The data suggests an increase in drowsiness as measured by blinking/eyelid closing rates.

Presentation of issues raised during discussions of the GRE Task Force on EMC requirements with regard to the application of several UN Regulations to trolley buses depending upon their configuration (e.g., dual-mode operation either connected to overhead cables or in standard bus mode).

Draft amendment pursuant to the 6th ACSF informal group session

Proposal for amendments to document ACSF-07-02.

Draft procedure for lane-guidance assistance systems (category B1 ACSF).

Proposal for new paragraphs in the draft ACSF amendment concerning provisions to ensure the system capacity to monitor and adapt to road conditions and the environment surrounding the vehicle in order to ensure safe behavior and minimize risks. This proposal replaces paragraphs in the previous document ACSF-06-28 based on the discussions of the 6th meeting and document ACSF-06-18 by OICA and CLEPA.

Proposal of a research project to assist the ACSF informal group in the development of provisions for the approval of lane-keeping and lane-change assistance and other ACSF systems.

Proposal of provisions regarding the use of a type approval numbering system that includes information on the ACSF capabilities and software version.

The draft amendment to enable automated steering systems for use at speeds above 10 km/h includes provisions for a minimal risk maneuver (MRM) in the event that the driver fails to respond to a demand to assume control of the vehicle. This document proposes provisions for the automatic activation of hazard warning lights under an MRM scenario.

Breakdown of the requirements of the draft consolidated amendment (ACSF-06-28) for each category of ACSF.

Table of ACSF categories as defined by functions and requirements of the draft amendment to UN R79.

Consideration of the borderline in distinguishing between corrective steering functions and automatically commanded steering functions towards defining requirements for the approval of automated steering systems.

Proposal towards defining corrective steering functions as a distinct function apart from automatically commanded steering functions.

OICA input on definition of corrective steering and automatically commanded steering functions.

The proposal is aimed at ensuring that the English and Russian texts are equivalent. In the English text, which is the original, in paragraph 2.2.27 of Annex 12 the word “travel” is used. The corresponding word in Russian language should be “ход”. The original text was mistranslated into Russian.

Proposal to clarify paragraph 8.1.2. The paragraph aimed to verify that the compensator can accept a difference of the travel when one brake operates in forward direction and the other in rearward direction with a margin of twenty per cent.

UN R13 allows for the exemption of certain vehicles from the requirement for electronic stability controls. This proposal seeks to clarify the scope of the exemptions to include any special purpose vehicle with a non-standard chassis. The change was prompted by a modified vehicle where use of ESC was not feasible, but where the current UN R13 language left doubt as to whether the ESC requirement was applicable. This revised proposal takes into account comments received during the February 2016 GRRF session.

Proposal to introduce technical requirements for Corrective Steering Functions (lane departure prevention, lane-keeping assistance (LKAS), steering angle correction, etc.) as defined in the regulation. The proposal offers four options to ensure appropriate approvals of LKAS and related CSF systems until such time as more precise requirements can be defined:

• Option 1 and option 2: Not to grant any type approvals for corrective steering functions until detailed technical requirements for CSF are incorporated into this Regulation.
• Option 3: Amend the definition of CSF as proposed in this document.
• Option 4: Amend the definition of corrective steering functions and to include technical requirements for LKAS as an ASCF of Category B1 as proposed in this document.

Hyperlink address corrections.

Proposal to reduce the maximum delay for warning a driver of prolonged ‘hands-off driving’ as a function of vehicle speed. The current calculation is based upon 30 seconds (i.e., t(s) = 30(s) * 130/V, where V is the speed of the vehicle in km/h at the time when the system has detected that the driver is no longer holding the steering control). Korea proposes 15 seconds. Additionally t would not be permitted to be greater than 180 seconds.

Proposal on CAT A based on document ACSF-07-07.

French proposal based upon the German proposal (ACSF-08-03)

Industry comment in support of “Option 4” in document GRRF/2016/45, the proposal to introduce technical requirements for Corrective Steering Functions (lane departure prevention, lane-keeping assistance (LKAS), steering angle correction, etc.) as defined in the regulation.

VDA research on warning times and proposing a 30s threshold at lower speeds.

Latest version of the amendment proposed in document GRRF/2016/45 as Option 3 and under discussion within the ACSF informal group

Proposal to align the text with the provisions for anti-lock braking systems used in other regulations, including specific exemptions for certain off-road vehicles as incorporated in UN Regulation No. 13. The proposal clarifies the limits on the use of any temporary ABS deactivation switch and prohibition against permanent disabling of ABS if fitted on a motorcycle.

Document prepared by the ACSF informal group secretary.

Document prepared by the ACSF informal group secretary.

UN R13 allows for the exemption of certain vehicles from the requirement for electronic stability controls. This proposal seeks to clarify the scope of the exemptions to include any special purpose vehicle with a non-standard chassis. The change was prompted by a modified vehicle where use of ESC was not feasible, but where the current UN R13 language left doubt as to whether the ESC requirement was applicable. This revised proposal takes into account comments received during the February 2016 GRRF session.

Request for authorization to develop amendments to GTR No. 3 in order to:

1. align GTR 3 with Supplement 3 to the 03 series of amendments to UN Regulation No. 78 adopted at June 169/WP.29 (electromagnetic compatibility requirements for ABS, application of ABS provisions to three-wheelers, installation of emergency stop signal) and
2. clarify the possibility to install a means to disable the ABS function (‘ABS Switch’) under certain conditions.

Proposal for amendments to the draft 04 series of amendments to Regulation No. 78. The draft 04 series proposes to align UN R78 with the provisions for anti-lock braking systems used in other regulations, including specific exemptions for certain off-road vehicles as incorporated in UN Regulation No. 13. The proposal clarifies the limits on the use of any temporary ABS deactivation switch and prohibition against permanent disabling of ABS if fitted on a motorcycle.

FIA comments on data privacy provisions under UN Regulations including remarks concerning the work of the informal groups on automated driving (ITS/AD), automatic emergency calls systems (AECS), and automatically commanded steering functions (ACSF). The presentation covers issues such as protection of personal data, aggregation of data to protect individual identities, protection against unauthorized access (hacking), and prohibition against data use for purposes other than those specifically intended by a regulation. FIA proposes the deletion of data storage (DSSA) provisions under the draft texts for ACSF.

Proposal to amend “option 4” as presented in the proposal introduce technical requirements for Corrective Steering Functions under UN R79 (document GRRF/2016/45). Option 4 for consideration by GRRF proposes to amend the definition of corrective steering functions and to include technical requirements for LKAS as an ASCF of Category B1. The proposal includes:

• Clarification of Corrective steering function (CSF) incl. defining of new requirements;
• Establishment of new categories for automatically commanded steering function (ACSF): Categories A, B1, B2, C, D and E;
• Wording for requirements of Category A (incl. remote parking RCP), and Category B1.

Proposal of amendments to the draft proposal concerning technical requirements for automated steering functions operating at speeds up to 10 km/h and for corrective steering functions under UN R79.

Proposal, consolidating document GRRF-82-08 with the proposed test procedures, revising “option 4” as presented in the proposal introduce technical requirements for Corrective Steering Functions under UN R79 (document GRRF/2016/45). Option 4 proposes to amend the definition of corrective steering functions and to include technical requirements for LKAS as an ASCF of Category B1. The proposal includes:

• Clarification of Corrective steering function (CSF) incl. defining of new requirements;
• Establishment of new categories for automatically commanded steering function (ACSF): Categories A, B1, B2, C, D and E;
• Wording for requirements of Category A (incl. remote parking RCP), and Category B1.

During its 8th meeting (Stockholm), the ACSF informal group decided that all functions to “assist the avoidance of a collision” would be excluded from the definition of “Corrective Steering Function”. ACSF decided to establish a new definition for “Emergency Steering Functions (ESF)” with specific requirements. The intention was to draft this definition during a second phase effort through which requirements for ACSF categories beyond B1 will be established. In order to enable the approval of ESF systems critical to road safety, OICA has prepared this proposal for an ESF definition and simple requirements based upon provisions for Complex Electronics (CEL) in Annex 6. A footnote has also been added to define the specific conditions for the approval of these systems, until uniform provisions are defined by the ACSF informal group.

In order to enhance the safety of B1 corrective steering functions (by reducing the probability of driver over-reliance and misunderstanding of system limitations), OICA proposes a minimum value of 0.8 m/s² for maximum lateral acceleration in place of the draft 1 m/s² for the speed range between 100-130 km/h for M1 and N1 vehicles. OICA believes that this would ensure that a system is capable under all conditions of generating the required minimum acceleration.

Proposed changes to the draft amendments to UN R79 concerning ACSF B1 systems. The proposed new wording for the triggering condition of the warning (“any front tyre of the vehicle is crossing the lane marking”) is technically more specific than the original (“the vehicle is going to leave the lane”). The use of a haptic signal as an alternative to the acoustic signal achieves the goal pursued by Germany. This proposal is consistent with the warning strategy of AEBS specified in UN R131. In the case of M2 M3 N2 N3 vehicle categories, it is proposed to take as a base the requirements specified in UN R130 LDWS regulation, which achieves the goal.

UN R79 amendment proposal to introduce provisions for “corrective steering functions” as a separate category of steering system from automatically commanded steering functions (ACSF). Corrective Steering Function (CSF) means the control function within an electronic control system whereby, for a limited duration, changes to the steering angle of one or more wheels may result from the automatic evaluation of signals initiated on-board the vehicle.

Explanatory presentation on document GRRF-82-08.

Proposal to amend the annex on complex electronic systems, in particular, to require auditing of the methodologies used to ensure system safety at both concept and system level. Concept level specifically requires consideration of interaction with other vehicle systems.

Proposal of updated objectives and timelines for the work of the ACSF informal group.

Proposal to amend the consolidated draft amendment to UN R79 to introduce technical requirements for Corrective Steering Functions and Level B1 ACSF under UN R79 (document GRRF/2016/45).

Updated version of the proposal to introduce corrective steering and B1 level ACSF provisions into UN R79 prepared pursuant to discussions held among interested parties following the afternoon GRRF session on 21 September.

Updated version of the draft amendment to introduce provisions for corrective steering and Category B1 ACSF into UN R79 based upon discussions held during the afternoon GRRF session of 21 September.

Presentation concerning the inability to test O₃ recreation vehicle trailers equipped with electric braking systems for type approval certification under UN R13.

Overview of special interest group discussions on replacement brake discs and drums, as well as on replacement brake pads and calipers (especially remanufactured).

Report as approved by the group delegates.

Proposal from GRRF to correct document WP.29/2016/114 (proposal to align UN R78 with other braking regulations as regards anti-lock braking systems and to clarify the limits on the use of any temporary ABS deactivation switch and prohibition against permanent disabling of ABS if fitted on a motorcycle. Under (e), the correct reference to the paragraph GTR No. 3 should read 5.1.13. The correct reference under f) to the previous points should be (a) to (e) instead of (a) to (f).

Proposal to develop an amendment in order to align GTR No. 3 with technical progress, addressing among others: ensuring electromagnetic immunity of ABS-systems, introducing ABS performance requirements for category 3-5 vehicles (three-wheelers), ensuring uniform requirements for equipment such as Electronic Stop Signal System and the means to disable the ABS, if equipped. This amendment aims to harmonize GTR with recent amendments made to UN Regulation No. 78.

Updated version of the proposal to introduce corrective steering and B1 level ACSF provisions into UN R79 as agreed by the GRRF during its September 2016 session.

Presentation on trial runs of the proposed test procedures for evaluating automated steering systems under UN R79.

Updated terms of reference for the automated steering informal group as agreed during the September 2016 GRRF session.

Proposal to amend the annex on complex electronic systems, in particular, to require auditing of the methodologies used to ensure system safety at both concept and system level. Concept level specifically requires consideration of interaction with other vehicle systems.

Proposal to delete a redundant requirement. The paragraphs 2.2. and 2.2.1. are superfluous since paragraph 5.2.2.13. already requires all O4 trailers to be equipped with Anti-lock Braking Systems (ABS) of Category A.

Proposal for an “Emergency Steering Function” to automatically assist drivers in avoiding an impending collision with an obstacle or other vehicle.

Proposal to include under the complex electronics annex of UN R79, if only as an interim measure, provisions for the approval of automated systems that bring a vehicle safely to a stop in the event of driver incapacitation.

Proposals to clarify and refine provisions in the draft corrective steering function amendment to UN R79 (document GRRF-82-12/Rev.3).

Proposals for the text of the draft amendment to UN R79 to enable the approval of automated lane-changing systems.

The Netherlands and Sweden note strongly urging consideration of system safety and software assessment issues before proceeding with approval procedures for Category B2 and/or E ACSF, including a discussion of the role, if any, of ISO 26262 under Annex 6.

Proposal to exempt automated parking systems from the draft requirement for tactile signals on the steering control. In a parking maneuver, the driver does not hold the steering wheel.

Proposal to amend provisions on electronic stability control warnings under braking regulations to allow for activation of the ESC visual warning during a stability-assistance intervention of an electronic steering control. The aim is to avoid separate requirements for brake-actuated and steering-actuated stability assistance that would lead to two visual warnings where only one is appropriate.