Proposal to clarify the Russian text to improve its alignments with the English version.

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 introduce new and enhanced requirements for the car-to-pedestrian test scenario. These requirements would be phased in from May 2024.

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.

Introduction, status, and open issues.

Proposal for DSSAD elements for use in the type approval of low-speed, on-highway automated lane-keeping systems.

TRL response to a European Commission request to comment on the draft on-highway, low-speed automated lane-keeping systems regulation.

Proposal to introduce provisions for approving single vehicles involved in modular vehicle combinations, e.g. towing trailers, “road trains”.

Revised version of document EDR-DSSAD-03-16. Also available with subgroup markup in pdf format and in word format.

Presentation of data regarding cyclist braking for use in defining car-to-cyclist AEB parameters.

Input on car-to-bicycle, false reaction avoidance, temporary deactivation provisions.

Proposal by IWG ALKS for new regulation for the approval of on-highway automated lane keeping systems operating at speeds below 60 kph.

The proposed text combines the proposed changes in GRVA/2020/8 (proposal for a maximum time of 15 seconds for a lane change) with the adopted changes in GRVA/2019/24.

Proposal combining the proposed changes of GRVA/2020/9 with the previously adopted changes in GRVA/2019/24.

The text submitted by the expert from France proposes to introduce a representative testing protocol to cover reconditioning or replacement of linings in case of battery recharging

The text submitted by the expert from the Republic of Korea based on the document ECE/TRANS/WP.29/GRVA/2020/12

Text submitted by the expert from CLEPA to include state-of-art electro-mechanical braking systems

Proposal submitted by IWG on ALKS for a draft Annex to address the “audit/assessment/simulation/in use reporting” pillar .

Proposal submitted by IWG on VMAD for an Appendix to the Annex 4 to address ‘scenarios” pillar especially for the traffic critical scenarios of the new test and assessment methods

Amendments to refine the proposal to increase maximum lateral acceleration limit values up to 4 m/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. The proposal sets the speed at 60 kph while specifying a linear reduction of lateral acceleration to a maximum 3 m/s² at 80 kph.

Proposal for provisions concerning:

• B1 lane centering
• ACSF activation conditions
• Driver override
• Clarification of ACSF standby-mode
• Clarification of “ready-to-intervene"
• Indication to the driver in case of suppression
• Clarification of suppression criteria
• Sensor test before activation.

Proposal to delete the clause “for subject vehicle and target vehicle” and add a reference to paragraph 5.2.1.4. in paragraph 6.10.2.

Explanation of the rationale behind proposals for cut-in test procedure proposals.

Video demonstration of RCP system.

The proposal to clarify that enabling the system under the test procedure is only necessary in cases where the system is not already in the enabled state.

ACSF systems in use were brought to market based on exemption approvals in the EU. These systems show a good and safe performance. Approvals according to UN R79/03 would force modifications to currently used systems without any apparent safety benefit. The current formula for the calculation of s_critical does not take the dynamic behaviour of the vehicles into account, therefore requires gaps that under some traffic conditions don’t usually occur. Since there are different ways of addressing the dynamic behaviour of the vehicles with regard to the original formula, this proposal would allow the manufacturer to specify its own formula provided the safety principle is maintained.

Proposal by IWG ALKS for new regulation for the approval of on-highway automated lane keeping systems operating at speeds below 60 kph reflecting ongoing discussions and agreed points from the initial review during the fifth GRVA session.

Proposal complementary to GRVA/2020/12 to adapt provisions to steering-by-wire and related new technologies with regard to steering angles and system responsiveness.

Proposal to allow ACSF-B lateral acceleration above the maximum limit value in cases where the lane position cannot be maintained by the vehicle (for example, on a tightening curve).

Proposal from the AEBS informal group to improve the assessment of AEBS robustness, to delete the clause “for subject vehicle and target vehicle”, and add a reference to paragraph 5.2.1.4. in paragraph 6.10.2.

Proposal to clarify conditions for automatic deactivation of the direction indicator pursuant to a lane change maneuver.

Draft text for a new UN Regulation on the approval of low-speed, on-highway automated lane-keeping systems. This draft will be the basis for discussions at the 6th GRVA session.

Presentation on the safety benefit of automated emergency steering in case of confirmed driver inability to perform the driving task.

Proposal to clarify that the AEBS may be automatically deactivated in the event that the electronic stability control system is deactivated.

AEBS informal working group draft proposal for GRVA to address the possibility of electronic stability control deactivation by the driver.

Proposal from the EDR-DSSAD informal group to provide requirements for “data storage systems for automated driving” in the draft automated-lane keeping systems type-approval regulation.

Proposal for an “Appendix on Traffic Disturbance Critical Scenarios to the Annex on audit/assessment to the new UN Regulation on Automated Lane Keeping systems (ALKS)” applying concepts under consideration by the VMAD informal group to establish performance criteria based on “driver model” responses to traffic scenarios.

Proposal from the VMAD informal group secretary for “Special requirements to be applied to the functional and operational safety aspects of Automated Lane Keeping Systems (ALKS)”.

This document outlines the UK’s latest proposals to permit a lane change function during a minimum risk manoeuvre or emergency manoeuvre as part of the forthcoming ALKS Regulation.

This proposal intends to allow the system to have a grace time in order to deal with unexpected changes in the radius of the curvature of the bend, by allowing the system to exceed the imposed ayxsmax limit of 3 m/s² by a maximum of 40% for up to 2 seconds.

Proposal for amendments to the proposed draft Annex 4 on audit/CEL to the new UN Regulation on Automated Lane Keeping Systems (ALKS)

Proposal as approved during the 6th GRVA session for a new UN Regulation on approval requirements for low-speed, on-highway automated lane-keeping systems.

Proposals to clarify provisions for collision avoidance in a cut-in scenario, collision avoidance with regard to crossing pedestrians, on “other activities than driving”, and on “permanent visibility” of the means for the driver to activate and deactivate the system.

Establishment of the Executive Committee (AC.3) of the 1998 Agreement Fifty-sixth session (item 12) – Proposals for amendments to UN GTRs (items 14.2.1. to 14.2.4.)

The objective of this proposal is to develop, in the framework of the 1998 Agreement, an amendment to UN Global Technical Regulation (GTR) No. 8 on Electronic Stability Control to amend to the testing provisions to accommodate the latest innovations for steering systems which have significantly low steering gear ratio (i.e. quick steering characteristics).

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 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 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.

Proposal to improve the robustness of the test procedure, including number of test runs and assessment of failures.

Proposal to improve the robustness of the test procedure, including number of test runs and analysis of failures.

Proposal for a new UN Regulation on uniform provisions concerning the approval of vehicles with regard to Automated Lane Keeping Systems designed to operate on highways at speeds up to 60 km/h.

Request to develop an amendment to the GTR 8 testing provisions to accommodate the latest innovations for steering systems which have significantly low steering gear ratio (i.e. quick steering characteristics).

Proposal to allow for virtual testing of AEBS.

Update working draft prepared by the AEBS informal group chair.

Slide prepared by the AEBS informal group chair based on a proposal from Germany.

Commented version of the working draft amendments. Revised to include additional AEBS stakeholder comments.

Presentation on the use of simulation tools under type approval and in discussions on the validation of automated driving systems.

Measurement data regarding driving behavior of normal drivers.

Slide regarding human driver behaviors and results under far-side turning (in Japan, right turn) scenario.

Raises whether to add 38 km/h in car-to-pedestrian limit table as is included in the car-to-car limit table. The proposal would not change the performance requirements but would align the two tables.

Proposal concerning “false reactions” (false positives).

Proposal for amendments concerning “false reactions” (false positives).

Proposal to change PBC from 0.9 to 1.0, indicate the reference tyre, note the lighting conditions, and allow for deviating test conditions at the manufacturer’s discretion and with the agreement of the Technical Service under the car-to-bicycle test provisions.

Proposal to amend the ALKS UN Regulation provisions to enable approval of systems operating at speeds up to 130 km/h.

Proposal to introduce additional requirements for a lane change functionality.

Proposal for provisions concerning:

1. B1 lane centering
2. ACSF activation conditions
3. Driver override
4. Clarification of ACSF standby-mode
5. Clarification of “ready-to-intervene"
6. Indication to the driver in case of suppression
7. Clarification of suppression criteria
8. Sensor test before activation.

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 permit the manufacturer to specify its own formula for the calculation of s_critical. The current formula does not take the dynamic behaviour of vehicles into account and therefore requires gaps that under some traffic conditions don’t usually occur. Since there are different ways of addressing the dynamic behaviour of the vehicles with regard to the original formula, this proposal would allow the manufacturer to specify its own formula provided the safety principle is maintained.