Compromise proposal to enable lane changes based on GRVA-10-22.

Additional justifications for the proposal to allow up to seven seconds to start and perform a lane change.

Proposal to allow up to seven seconds to start and perform a lane change.

Proposal to allow a grace time in order to deal with unexpected changes in the radius of the curvature of a bend by permitting the system to exceed the ay_smax limit of 3 m/s² by a maximum of 40 per cent for up to two seconds.

This proposal revises the changes proposed in document GRVA/2020/7 based on stakeholder feedback. The proposal introduces provisions for M₁ vehicle to allow for lateral accelerations up to 40% greater than the 3 m/s² limitation for a period up to two seconds in order to in order navigate unexpected changes in the radius of the curvature of a bend and avoid driving behaviour that may be unexpected and/or confusing to the operator and following vehicles.

Proposal for amendments to document GRVA/2020/22.

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

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.

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 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.”

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 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).

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 permit the limited use (in non-total control use-cases) of external signals to improve the overall reliability and safety of ACSF functions.