Regulation No. 79-02 Proposal

Name:Regulation No. 79-02 Proposal
Description:Steering Equipment. Proposal for the 02 Series.
Official Title:Proposal for the 02 Series of Amendments to Regulation No. 79 (Steering Equipment).
Country:ECE - United Nations
Date of Issue:2016-12-22
Amendment Level:Original
Number of Pages:13
Vehicle Types:Bus, Car, Heavy Truck, Light Truck, Trailer
Subject Categories:Drafts and Proposals (Current)
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Keywords:

vehicle, driver, system, control, steering, test, warning, signal, acsf, regulation, lane, speed, lateral, paragraph, requirements, intervention, acceleration, maximum, range, acoustic, csf, category, fulfilled, conditions, manufacturer, means, optical, function, provided, annex, force, activated, amendments, type, series, documentation, technical, read, parking, markings, driven, signals, rcp, service, manoeuvre, action, operation, active, remote, mode

Text Extract:

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ECE/TRANS/WP.29/2017/10
PROPOSAL FOR THE 02 SERIES OF AMENDMENTS TO
REGULATION NO. 79
(STEERING EQUIPMENT)
As Amended by Paragraph 70 of the Report of the World Forum for Harmonisation
of Vehicle Regulations on its 171 Session, March 14-17, 2017
ADOPTED AT THE 171 SESSION – MARCH 2017
PROVISIONAL DATE OF ENTRY INTO FORCE: OCTOBER 10, 2017

Paragraph 2.3.4.2., amend to read:
"2.3.4.2. "Corrective Steering Function (CSF)" means a 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, in order:
(a)
(b)
(c)
To compensate a sudden, unexpected change in the side force of the vehicle, or;
To improve the vehicle stability (e.g. side wind, differing adhesion road conditions
"μ-split"), or;
To correct lane departure. (e.g. to avoid crossing lane markings, leaving the road)."
Insert new Paragraphs 2.4.8. until 2.4.15., to read:
"2.4.8. "Remote Controlled Parking (RCP)" means an ACSF of Category A, actuated by the
driver, providing parking or low speed manoeuvring. The actuation is made by remote control
in close proximity to the vehicle.
2.4.9. "Specified maximum RCP operating range (S )" means the maximum distance
between the nearest point of the motor vehicle and the remote control device up to which
ACSF is designed to operate.
2.4.10.
"Specified maximum speed V
" means the maximum speed up to which an ACSF is
designed to operate.
2.4.11.
"Specified minimum speed V
" means the minimum speed down to which an ACSF is
designed to operate.
2.4.12. "Specified maximum lateral acceleration ay " means the maximum lateral acceleration
of the vehicle up to which an ACSF is designed to operate."
2.4.13. An ACSF is in "off mode" (or "switched off") when the function is prevented from generating
a steering control action to assist the driver.
2.4.14. An ACSF is in "standby mode" when the function is switched on but the conditions
(e.g. system operating conditions, deliberate action from driver) for being active are not all
met. In this mode, the system is not ready to generate a steering control action to assist the
driver.
2.4.15. An ACSF is in "active mode" (or "active") when the function is switched on and the
conditions for being active are met. In this mode, the system continuously or discontinuously
controls the steering system is generating, or is ready to generate, a steering control action
to assist the driver."
Paragraph 5.1.6.1., amend to read:
"5.1.6.1. A CSF system shall be subject to the requirements of Annex 6."

Insert a new Paragraph 5.6., to read:
"5.6. Provisions for ACSF
Any ACSF shall be subject to the requirements of Annex 6.
5.6.1. Special Provisions for ACSF of Category A
5.6.1.1. General
Any ACSF of Category A shall fulfil the following requirements.
5.6.1.1.1. The system shall only operate until 10km/h (+2km/h tolerance)
5.6.1.1.2. The system shall be active only after a deliberate action of the driver and if the conditions for
operation of the system are fulfilled (all associated functions – e.g. brakes, accelerator,
steering, camera/radar/lidar. are working properly).
5.6.1.1.3. The system shall be able to be deactivated by the driver at any time.
5.6.1.1.4. In case the system includes accelerator and/or braking control of the vehicle, the vehicle
shall be equipped with a means to detect an obstacle (e.g. vehicles, pedestrian) in the
manoeuvring area and to bring the vehicle immediately to a stop to avoid a collision.
5.6.1.1.5. Whenever the system becomes operational, this shall be indicated to the driver. Any
termination of control shall produce a short but distinctive driver warning by an optical
warning signal and either an acoustic warning signal or by imposing a haptic warning signal
(except for the signal on the steering control in parking manoeuvring).
For RCP, the requirements for driver warning shown above shall be fulfilled by the provision
of an optical warning signal at least at the remote control device.
5.6.1.2. Additional Provisions for RCP
5.6.1.2.1. The parking manoeuvre shall be initiated by the driver but controlled by the system. A direct
influence on steering angle, value of acceleration and deceleration via the remote control
device shall not be possible.
5.6.1.2.2. A continuous actuation of the remote control device by the driver is required during the
parking manoeuvre.
5.6.1.2.3. If the continuous actuation is interrupted or the distance between vehicle and remote control
device exceeds the specified maximum RCP operating range (S ) or the signal between
remote control and vehicle is lost, the vehicle shall stop immediately.
5.6.1.2.4. If a door or trunk of the vehicle is opened during the parking manoeuvre, the vehicle shall
stop immediately.

5.6.2.1.3. The system shall be designed so that excessive intervention of steering control is
suppressed to ensure the steering operability by the driver and to avoid unexpected vehicle
behaviour, during its operation. To ensure this, the following requirements shall be fulfilled:
(a)
The steering control effort necessary to override the directional control provided by the
system shall not exceed 50N.
(b)
The specified maximum lateral acceleration ay
shall be within the limits as defined
in the following Table:
For vehicles of Category M , N
Speed range
Maximum value for the specified
maximum lateral acceleration
Minimum value for the specified
maximum lateral acceleration
10-60km/h >60-100km/h >100-130km/h >130km/h
3m/s² 3m/s² 3m/s² 3m/s²
0m/s² 0.5m/s² 0.8m/s² 0.3m/s²
For vehicles of Category M , M , N , N
Speed range 10-30km/h >30- 60km/h > 60km/h
Maximum value for the specified
maximum lateral acceleration
Minimum value for the specified
maximum lateral acceleration
2.5m/s² 2.5m/s² 2.5m/s²
0m/s² 0.3m/s² 0.5m/s²
(c)
The moving average over half a second of the lateral jerk generated by the system
shall not exceed 5m/s³.
5.6.2.1.4. The requirements in Paragraphs 5.6.2.1.1. and 5.6.2.1.3. of this Regulation shall be tested in
accordance with relevant vehicle test(s) specified in Annex 8 of this Regulation.
5.6.2.2. ACSF of Category B1 Operation
5.6.2.2.1. If the system is active an optical signal shall be provided to the driver.
5.6.2.2.2. When the system is in standby mode, an optical signal shall be provided to the driver.
5.6.2.2.3. When the system reaches its boundary conditions set out in Paragraph 5.6.2.3.1.1. of this
Regulation (e.g. the specified maximum lateral acceleration ay ) and both in the absence
of any driver input to the steering control and when any front tyre of the vehicle starts to
cross the lane marking, the system shall continue to provide assistance and shall clearly
inform the driver about this system status by an optical warning signal and additionally by an
acoustic or haptic warning signal.
For vehicles of categories M M N and N , the warning requirement above is deemed to be
fulfilled if the vehicle is equipped with a Lane Departure Warning System (LDWS) fulfilling
the technical requirements of Regulation No. 130.

Insert a new Paragraph 12, to read:
"12. Transitional Provisions
12.1. As from the official date of entry into force of the 02 series of amendments, no Contracting
Party applying this UN Regulation shall refuse to grant or refuse to accept UN type approvals
under this UN Regulation as amended by the 02 series of amendments.
12.2. As from April 1, 2018, Contracting Parties applying this UN Regulation shall grant UN type
approvals only if the vehicle type to be approved meets the requirements of this UN
Regulation as amended by the 02 series of amendments.
12.3. As from April 1, 2021, Contracting Parties applying this Regulation shall not be obliged to
accept, for the purpose of national or regional type approval, a vehicle type approved to the
preceding series of amendments to this Regulation.
12.4. Contracting Parties applying this UN Regulation shall not refuse to grant extensions of UN
type approvals for existing types, which have been granted according to the preceding series
of amendments to this UN Regulation.
12.5. Notwithstanding Paragraph 12.3., UN type approvals to the preceding series of amendments
to the UN Regulation, which are not affected by the 02 series of amendments shall remain
valid and Contracting Parties applying the UN Regulation shall continue to accept them.
12.6. As a derogation to Paragraph 12.2., until April 1, 2020, type Approvals may be granted to
new vehicle types not complying with the red colour for the hands-off warning signal,
mandated in Paragraph 5.6.2.2.5., and having multi information displays installed in the
instrument cluster not capable of indicating red waning signals or using standalone tell-tales
only."
Annex 2, amend the marking provisions corresponding to the 02 series of amendments: For "01", read
"02" (5 times)
Insert a new Annex 8, to read:
"Annex 8
Test Requirements for Corrective and Automatically Commanded Steering Functions
1. General Provisions
Vehicles fitted with CSF and/or ACSF systems shall fulfil the appropriate tests requirements
of this annex.
2. Testing Conditions
The tests shall be performed on a flat, dry asphalt or concrete surface affording good
adhesion. The ambient temperature shall be between 0°C and 45°C.
2.1. Lane Markings
The lane markings on the road used for the tests shall be in line with one of those described
in Annex 3 of Regulation No. 130. The markings shall be in good condition and of a material
conforming to the standard for visible lane markings. The lane-marking layout used for the
tests shall be recorded in the test report.

In the case of Paragraph 5.1.6.1.2.1. of this Regulation, the vehicle shall be driven such that
it attempts to leave the lane and causes CSF intervention to be maintained for a period
longer than 10s (for M , N ) or 30s (for M , M , N , N ). If such a test cannot be practically
achieved due to e.g. the limitations of the test facilities, with the consent of the type approval
authority this requirement may be fulfilled through the use of documentation.
The test requirements are fulfilled if:
(a) The acoustic warning is provided no later than 10s (for M , N ) or 30s (for M , M , N ,
N ) after the beginning of the intervention.
In the case of Paragraph 5.1.6.1.2.2. of this Regulation, the vehicle shall be driven such that
it attempts to leave the lane and causes at least three interventions of the system within a
rolling interval of 180s.
The test requirements are fulfilled if:
(a)
(b)
(c)
An optical warning signal is provided for each intervention, as long as the intervention
exists, and
An acoustic warning signal is provided at the second and third intervention, and
The acoustic warning signal at the third intervention is at least 10s longer than the one
at the second intervention.
3.1.1.2. In addition, the manufacturer shall demonstrate to the satisfaction of the Technical Service
that the requirements defined in Paragraphs 5.1.6.1.1 and 5.1.6.1.2 are fulfilled in the whole
range of CSF operation. This may be achieved on the basis of appropriate documentation
appended to the test report.
3.1.2 Overriding Force Test
3.1.2.1. The vehicle shall be driven with an activated CSF on a road with lane markings on each side
of the lane.
The test conditions and the vehicle test speed shall be within the operating range of the
system.
The vehicle shall be driven such that it attempts to leave the lane and causes CSF
intervention. During the intervention, the driver shall apply a force on the steering control to
override the intervention.
The force applied by the driver on the steering control to override the intervention shall be
recorded.
3.1.2.2. The test requirements are fulfilled if the force applied by the driver on the steering control to
override the intervention does not exceed 50N.
3.1.2.3 In addition, the manufacturer shall demonstrate to the satisfaction of the Technical Service
that the requirements defined in Paragraph 5.1.6.1.3. are fulfilled in the whole range of CSF
operation. This may be achieved on the basis of appropriate documentation appended to the
test report.

3.2.3. Overriding Force Test
3.2.3.1. The vehicle speed shall remain in the range from V up to V .
The vehicle shall be driven without any force applied by the driver on the steering control
(e.g. by removing the hands from the steering control) with a constant speed on a curved
track with lane markings at each side.
The necessary lateral acceleration to follow the curve shall be between 80 and 90% of the
minimum value specified in the table of Paragraph 5.6.2.1.3. of this Regulation.
The driver shall then apply a force on the steering control to override the system intervention
and leave the lane.
The force applied by the driver on the steering control during the overriding manoeuvre shall
be recorded.
3.2.3.2. The test requirements are fulfilled if the force applied by the driver on the steering control
during the overriding manoeuvre is less than 50N.
The manufacturer shall demonstrate through appropriate documentation that this condition is
fulfilled throughout the ACSF operation range.
3.2.4. Transition Test; Hands-on Test
3.2.4.1. The vehicle shall be driven with activated ACSF with a vehicle test speed between
V + 10km/h and V + 20km/h on a track with lane markings at each side of the lane.
The driver shall release the steering control and continue to drive until the ACSF is
deactivated by the system. The track shall be selected such that it allows driving with
activated ACSF for at least 65s without any driver intervention.
The test shall be repeated with a vehicle test speed between V - 20km/h and
V – 10km/h or 130km/h whichever is lower.
Additionally, the vehicle manufacturer shall demonstrate to the satisfaction of the Technical
Service that the requirements for the whole speed range are fulfilled. This may be achieved
on the basis of appropriate documentation appended to the test report.
3.2.4.2. The test requirements are fulfilled if:
The optical warning signal was given at the latest 15s after the steering control has been
released and remains until ACSF is deactivated.
The acoustic warning signal was given at the latest 30s after the steering control has been
released and remains until ACSF is deactivated.
The ACSF is deactivated at the latest 30s after the acoustic warning signal has started, with
an acoustic emergency signal of at least 5s, which is different from the previous acoustic
warning signal."
Steering Equipment. Proposal for the 02 Series.