Proposal for the draft regulation on automated lane-keeping systems address the following sections:
2.6. Driver Availability Recognition
2.7. Transition Demand and System Operation during Transition phase
2.8. Information to the driver
2.9. Minimal Risk Manoeuvre
2.10. Emergency Manoeuvre

Proposal of amendments from the AEBS informal group to their original submission for a new UN Regulation.

Password protected .zip file of the ISO standard provided to GRVA for limited use. Please contact the GRVA secretariat for access.

Password protected .zip file of the standard for limited GRVA use. Please contact the GRVA secretariat for access.

Password-protected .zip file of the standard for limited GRVA use. Please contact the GRVA secretariat for access.

Proposal to

1. correct numbering of paragraph 2.3.4.18.
2. limit the initial scope to M₁ and N₁ vehicles
3. further modify the numbering to clarify that remote-controlled maneuvering (RCM) is not a form of ACSF
4. clarify that all RCM are subject to the requirements of the Electronics Annex (Annex 6 to UN R79).

Refinements to the proposal to align the GTR text with updates to UN R78 introduced in response to technological progress in motorcycle braking.

Matrix of criteria for determining that driver actions signal control over the vehicle and intent to take over from the automated system.

Draft pursuant to discussions during the 21st ACSF informal group session

Proposal to clarify the test method for the evaluation of performance of energy sources and energy storage devices reproduced in Annex 7 to the UN Regulation No. 13.

Revised proposal requesting an extension of one year (until January 2020) of the group’s mandate.

Amendment proposal to the draft text for a new UN Regulation on M₁ and N₁vehicle automatic emergency braking systems.

Proposal for amendments to the draft proposal concerning changes to the provisions introduced by the 02 series of amendments for remote-controlled parking (RCP).

Proposal to ensure that the safety approach for complex electronics of remote controlled maneuvering addresses malfunctions, non-fault errors, and misuse.

Proposal for amendments to the requirements for Automatically Commanded Steering Functions (ACSF) of Category C, introducing specific provisions for the use of a lane change function with a two-step Human Machine Interface (HMI).

Proposal to clarify that UN R139 does not mandate the installation of brake assist systems (BAS) on vehicles but rather specifies requirements for the approval of vehicles should they be equipped with a BAS system.

This document proposes amendments to the ESC prescribed test conditions in anticipation of future developments in steering systems.

Proposal to clarify that UN R140 does not mandate the installation of electronic stability control systems (ESC) on vehicles but rather specifies requirements for the approval of vehicles should they be equipped with an ESC system.

Initial outline and elements for development into a new UN Regulation for data and event recording systems for L3-5 automated vehicles.

Proposal to amend the draft text (GRVA/2019/9) submitted 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.

• Safety aspects of automated driving
• What is the Safety of the Intended Functionality (SOTIF)?
• ISO/PAS 21448 status and activities
• Connection with Automated Driving (AD) regulatory activities

Request to extend the ACSF mandate a further 12 months.

Changes to the draft proposal for a new UN Regulation on light vehicle AEBS as noted during the second GRVA session.

Proposal from the GRVA chair.

Outcomes from the discussion of the proposal from France 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.

Correction to the agreed changes to the draft AEBS regulation for light vehicles as noted by the GRVA secretariat.

Draft text following the third and final day of the 22nd ACSF informal group session for a new UN Regulation on the type approval of automated lane-keeping systems operating at speeds below 60 kph.

Proposal to introduce provisions relevant to the activation of stop lamps under more conditions than application of the service brake only, e.g. also by regenerative braking.

Proposal to align the text in Annex 7 with UN R78 and to insert the reference to the L₆ and L₇ vehicle categories to respond to requests from the industry for type approval for the replacement brake lining assembly for these vehicles.

Proposal to clarify that UN R139 does not mandate the installation of brake assist systems (BAS) on vehicles but rather specifies requirements for the approval of vehicles should they be equipped with a BAS system.

Proposal to clarify that UN R140 does not mandate the installation of electronic stability control systems (ESC) on vehicles but rather specifies requirements for the approval of vehicles should they be equipped with an ESC system.

Proposal for uniform provisions concerning the approval of motor vehicles with regard to the Advanced Emergency Braking System (AEBS) for M₁ and N₁ vehicles.

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 with changes from the 8th AEBS informal group session.

Draft text with highlighted changes made during the 8th AEBS informal group session for eventual integration as Supplement 1 to the original AEBS regulation pending adoption at the June 2019 WP.29 session.

Draft proposal for the second step requirements for light vehicle AEBS.

EU General Safety Regulation 5: AEBS–Proportion of M1 vehicles likely to pass the vehicle to pedestrian test of proposed draft regulation.

Proposal the clarify the test method for the evaluation of performance of energy sources and energy storage devices under Annex 7. In particular, the proposal clarifies that the measurement is made on the ninth brake application.

Proposal to amend the draft text (GRVA/2019/9) submitted 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 update and clarify Annex 6 on requirements for documentation, fault strategy and verification of the safety of electronic systems and complex electronic vehicle control systems related to vehicle steering. The assessment particularly addresses driver assistance and automated steering.

Proposal to introduce provisions for the approval of Remote Control Manoeuvring (RCM) systems.

Proposal to introduce provisions for a “two-step Human Machine Interface” in the requirements for Automatically Commanded Steering Functions (ACSF) of Category C lane-change functions.

Discussion of lateral acceleration values for Automatically Commanded Steering Functions (ACSF) of Category B1 (e.g., SAE L2 lane-keeping) and proposal to allow the vehicle under test to change speeds in order to meet maximum lateral acceleration values when navigating curves.

Proposal to allow for higher lateral acceleration limits for Automatically Commanded Steering Functions (ACSF) in executing lane changes.

Proposal to supplement paragraph 5.6.4.6.7. with additional requirements regarding lane-change driver actions that should allow for a more intuitive user experience while limiting a significant risk of mode confusion.

Proposal to align approval numbers and markings under UN R90 with Schedule 4 of Revision 3 to the 1958 Agreement.

Proposal to allow for the use of the maximum operable steering wheel angle of a steering system’s design in cases where the normalized angle as calculated under the regulation cannot meet the fixed values of the regulation (i.e., between 270 and 300 degrees). The intention is to enable approval of eventual systems (e.g., steer-by-wire) that may use low steering gear ratios.

AEBS informal group proposal to introduce new and enhanced requirements for the car-to-pedestrian test scenario.

Proposal from the AEBS informal group to improve and clarify the text of the Regulation.

Proposal to align GTR No. 3 with technical progress, addressing among others: electromagnetic compatibility/immunity of ABS-systems, ABS performance requirements for category 3-5 vehicles (three-wheelers), uniform requirements for equipment such Emergency Stop Signal and the means to disable the ABS, if equipped. This amendment aims to harmonize GTR with recent amendments made to UN Regulation No. 78 while addressing its use under self-certification compliance systems.

Proposal to introduce provisions for the approval of Remote Control Manoeuvring (RCM) systems.

Proposal to ensure consistency between GTR 3 and UN R78 in light of the proposed amendments to GTR 3 (GRVA/2019/23). Paragraph 5.1.17 aims to clarify with an explicit article that the rider is duly informed when activating a riding mode that disables the ABS on the rear axle.

Side-by-side comparison of GTR 3 and UN R78 provisions.

Proposal concerning assessment of ACSF Category B1 lane keeping systems. Under Annex 8, proposal to delete the warning-to-deactivation cascade testing at high speed because the capability is already demonstrated under the low-speed test and the high-speed variation effectively requires a test track length of more than two kilometers. The proposal would also clarify paragraph 5.6.2.3.1. regarding the use of inputs other than lane markings where lane markings are not present.

Proposal for modifications to draft tolerances in the testing of ACSF B1 and C systems with regard to lane width, coordinate system, lateral acceleration, and overriding-force test.

Updated remote-controlled maneuvering proposal with editorial Improvements, clarification that the actuator of the function is to be included as part of the assessment along with the hardware and software on the vehicle, and to add requirements on the security of the connection between the remote-control device and the vehicle.

Changes to the proposal to update and clarify Annex 6 on requirements for documentation, fault strategy and verification of the safety of electronic systems and complex electronic vehicle control systems related to vehicle steering.

Proposal to allow the use of a haptic signal as an alternative to the current requirement for an acoustic signal for the corrective steering function, provided the vehicle is equipped with a lane-departure warning system approved under UN R130. The proposal also introduces a requirement that the haptic warning must extend beyond the steering wheel (e.g., the signal would also include the driver’s seat) in order to address misuse (i.e., hands off the steering wheel use).

The 01 series of amendments aims at increasing the performance requirements in the Car to Pedestrian
scenario by permitting only reduced maximum impact speed compared to the original version of this
Regulation. Thereby the same maximum impact speed is required for the Car to Pedestrian as for the
Car to Car scenario. However, in the original proposal (GRVA/2019/16), the permitted maximum impact speed for an N₁ vehicle erroneously corresponds to that of an M₁ vehicle. This proposal corrects the error.

Pursuant to discussions during the 9th session of the informal working group on AEBS for M₁/N₁, paragraphs 6.5.2. (pass conditions regarding “car-to-car moving” collision warning) and 6.6.2. (pass conditions regarding the collision warning in the Car to Pedestrian scenario) were deleted given that pass conditions were already defined by the general requirements. For consistency, this proposal would delete the pass conditions under the car-to-car stationary scenario.

Proposal for editorial corrections and clarifications concerning activation of a riding mode with ABS disabled. The changes are also being concurrently proposed for UN R78.

Presentation in support of the proposals for the 01 series of amendments and for Supplement 1 to UN R152 (respectively, documents GRVA/2019/16 and GRVA/2019/17.

The False Reaction scenarios in Annex 3-Appendix 2 were based on UN R131 (on-highway heavy vehicles) without verification of their applicability to urban light vehicles. Japan has begun research and anticipates proposing changes to the UN R152 scenarios in the near future. This proposal identifies scenarios under study and recommends tolerances for the vehicle and pedestrian dummy placements. Japan also raises concerns over the provision “the AEBS shall not provide a collision warning” in cases where there is no imminent collision risk.

Proposal to modify lateral acceleration values for Automatically Commanded Steering Functions (ACSF) of Category B1 (e.g., SAE L2 lane-keeping) and to allow the vehicle under test to change speeds in order to meet maximum lateral acceleration values when navigating curves.

Proposal to allow for higher lateral acceleration limits for Automatically Commanded Steering Functions (ACSF) in executing lane changes. The proposal modifies acceleration limits in the original proposal (GRVA/2019/27) and focuses on the timing for lane changes (e.g., 15-second total duration).

Proposal to add transitional provisions to document GRVA/2019/18.

Text approved by GRVA consolidating input from stakeholders and agreed changes to the original proposal (GRVA/2019/19) for submission to WP.29 at its March 2020 session. The proposal amends the draft text (GRVA/2019/9) submitted 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).

Presentation on Tesla experience with hands-on lane-keeping and automated lane-change systems, especially with regard to lateral acceleration and distance limits under UN R79.

Proposal to introduce provisions for a “two-step Human Machine Interface” in the requirements for Automatically Commanded Steering Functions (ACSF) of Category C lane-change functions.

Proposal to correct editorial errors in the consolidated document WP29/2016/58 relating to GRRF-80-37, GRRF/2015/22 and GRRF-81-04-Rev.1 and to insert the word “tolerance” in para. 2.3.3.4.1.

Amendments submitted from GRVA.

Supporting the proposal for repetition of a limited number of unsuccessful test runs to compensate for external test influences.

Draft informal group response to GRVA general agreement to address AEBS robustness and uncertainties of the test method.

Proposal the clarify the test method for the evaluation of performance of energy sources and energy storage devices under Annex 7. In particular, the proposal clarifies that the measurement is made on the ninth brake application.

Proposal to harmonise the requirements of UN R78 with the latest amendments to UN GTR No. 3 adopted by GRVA at its fourth session. Paragraph 5.1.18 aims to clarify with an explicit article that the rider is duly informed when activating a riding mode that disables the ABS on the rear axle.

Proposal to increase maximum lateral acceleration limit values up to 4m/s² for speeds up to 80 km/h for M1/[N1] category vehicles, provided there is no heavy rain and ambient air temperatures are above 4°C.

Proposal for a maximum time of up to 15 seconds for an Automatically Commanded Steering Function (ACSF) of Category C to start a lane change.

Proposal to stipulate that “Automatic deactivation by the system of the direction indicator is required only if the lane change manoeuvre is initiated automatically, or if the direction indicator control is not fully engaged (latched position) during the lane change manoeuvre.”