Proposal to simplify the original text.

Proposal to resolve issues with accepting the approval of M₂, M₃ and N₂ vehicles to R152.

Proposal to amend provisions in documents GRVA/2025/13 and GRVA/2025/14 concerning the type approval of a park lock device as an alternative to or in combination with the friction parking braking.

Proposal to align the original text with the 01 series of amendments concerning initialisation: “If [the] ACPE is not ready to perform an intervention 6 s after the initiation of the vehicle powertrain, information of this status shall be indicated to the driver. This information shall exist until the system has been successfully
initialised.”

Proposal to extend the scope to include N₁ category vehicles.

Proposal from the FADS task force to update the text for application to certain ADS vehicles.

Proposal to resolve inconsistency between information required on the communication form of R90 compared to other UN Regulations.

Proposal to clarify requirements in the scope relevant to mutual recognition and UN R131 (Advanced Emergency Braking Systems (AEBS).

Draft proposal for amendments and clarifications, especially to address the applicability of the regulation to ADS vehicles, submitted by the FADS task force for information pending finalisation.

Proposal to ensure that vehicles exhibiting functionality meeting the definition of ACSF-B2 or -E are required to comply with the 01 series of R171 (or later). The 01 series added the necessary technical requirements to ensure the safety of features that allow ‘hands-free’ operation or perform system-initiated manoeuvres.

In-session mark-up from the 22nd FADS task force meeting.

Proposal to enable the type approval of automated vehicles, including those without manual controls.

Proposal to enable the type-approval of ADS vehicles, including those without manual controls.

Proposal to enable the type-approval of ADS vehicles, including those without manual controls.

Proposal to improve terminology concerning the status of the AEBS following an “engine start / run cycle”.
Add related document

Proposal to include provisions for the approval of ACPE for vehicles of Category N1 and to introduce additional performance requirements for additional scenarios.

Pursuant to changing the application of the Unique Identifier (UI) under the 1958 Agreement, this proposal deletes the prohibition on use of the UI for replacement brake components under UN R90. Originally, the UI was applied by default to all UN Regulations which therefore required certain regulations to prohibit its use. Pursuant to the adopted proposal WP.29/2025/17, each regulation grants permission to use the UI so the provision prohibiting use under UN R90 is no longer needed.

Proposal to insert initialisation provision: “If ACPE is not ready to perform an intervention 6 s after the initiation of the vehicle powertrain, information of this status shall be indicated to the driver. This information shall exist until the system has been successfully initialised.”

Proposal to ensure that vehicles exhibiting functionality meeting the definition of ACSF-B2 or -E are required to comply with the correct series of R171.

Proposal improve consistency in the bedding/burnishing procedure and to align the Communication Form with that of other UN Regulations.

Proposal to enable the use of virtual testing as an alternative to physical testing.

Proposal to clarify that an Emergency Stop Signal may be generated by application of the service braking system via the Electronic Parking Brake.

Proposal to improve usability, especially in enabling user targeting of the stopping point of the vehicle.

Proposal to clarify that the use of any braking system control for testing the effectiveness of the secondary braking system in failure conditions is allowed.

Proposal to mitigate the risks of decreasing trailer brake performance caused by brake pads and linings “falling asleep”.

Proposal to resolve the problem of decreasing trailer brake performance caused by brake pads and linings “falling asleep”.

Proposal for amendments) Proposal to mitigate the risk of decreasing trailer brake performance caused by brake pads and linings “falling asleep”.

Proposal to mitigate risks of decreasing trailer brake performance caused by brake pads and linings “falling asleep”.

Proposal for amendments) Proposal to mitigate the risks of decreasing trailer brake performance caused by brake pads and linings “falling asleep”.

roposal to improve terminology concerning the status of the AEBS following an “engine start / run cycle”.

Proposal to improve terminology concerning the status of the AEBS following an "engine start / run cycle”.

Proposal to improve terminology concerning the status of the AEBS following an “engine start/run cycle”.

Proposal on terminology about the status of the system following an “engine start / run cycle”.

Proposal for terminology about the status of the system following an “engine start / run cycle”, to limit regular lane changes to roads “where it is possible to assess and handle the speed of an approaching vehicle” and to restrict lane changes by heavy vehicles (M₃ and N₃) to roads where the maximum permissible speed of target lane is “limited for all vehicle categories”, and to simplify the original text.

Proposal to improve terminology concerning the status of the ACSF system following an “engine start / run cycle” and to clarify provisions for full power steering systems such as steer-by-wire systems.

Proposal to improve terminology concerning the status of the system following an “engine start / run cycle” and to clarify provisions for full power steering systems such as steer-by-wire systems.

Proposal to transpose EU Regulation 2021/64 on emergency lane-keeping systems into a new regulation under the 1958 Agreement on the mutual recognition of type approvals.