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Standards Development
This document forms Part 1 of the 23793 series which addresses the minimum requirements for minimal risk manoeuvres (MRM), which are the response of an ADS to perform automated fallback to reach a minimal risk condition (MRC).
• This document contains the classification framework for MRM and the requirements of the control strategy for the two simplest types, straight stop and in-lane stop.
• The classification framework establishes the concept of MRM operation, classification of different MRM types, and basic principles of the decision-making process to decide which MRM type may be performed based on the situation. In addition, this document contains minimum performance requirements and test procedures for the two simplest MRM types, straight stop and in-lane stop.
• The scope of the MRM standards, including this document, covers the ADS behaviour during the MRM execution, including the time from MRM initiation until MRC attainment.
• The MRM described in this standard are intended to be used in light-duty vehicles equipped with Level 3-5 ADS.
• The scope does not include methods for detecting failures of ADS and the decision-making process to initiate the MRM.
• For highly automated driving systems which are level 3 or higher, the automated driving systems can be in fallback situation. The example of fallback situation can be driver fail to take over, the automated driving system failure or out of ODD(operational design domain). In fallback situation, the highly automated driving system might need to drive the vehicle to the safer condition such as automatic stop on the road shoulder.
• This safer stationary condition is called MRC(Minimal Risk Condition), and the automatic maneuvour to drive the vehicle to MRC is called MRM(Minimal Risk Maneuvour).
• There are five types of MRM defined in the standard.
- Type 1: Stop of vehicle performed only by longitudinal control without manipulation of lateral control
- Type 2: Stop of vehicle within the boundary of the lane in which the vehicle was traveling before MRM was initiated performed by both longitudinal and lateral control
- Type 3: Stop of vehicle within the boundary of a lane that is adjacent to the lane in which the vehicle was traveling before MRM was initiated, performed by both longitudinal and lateral control
- Type 4: Stop of vehicle within the boundary of a shoulder area performed by both longitudinal and lateral control
- Type 5: Stop of vehicle within the boundary of a parking lane performed by both longitudinal and lateral control
• As a first part of the MRM standards, the proposed document includes the framework and two simplest types of MRM which are straight stop and in-lane Stop.
• It is expected that the MRM is included in majority of highly automated driving systems as fallback function is expected to be required for majority of highly automated driving systems.
• This standard will provide the common understanding on the behaviour of the automated driving systems after fallback, and it will be a valuable reference for developing related functions for automated driving systems.
• For highly automated driving systems which are level 3 or higher, the automated driving systems can be in fallback situation.
The example of fallback situation can be driver fail to take over, the automated driving system failure or out of ODD(operational design domain). In fallback situation, the highly automated driving system might need to drive the vehicle to the safer condition such as automatic stop on the road shoulder.
• This safer stationary condition is called MRC(Minimal Risk Condition), and the automatic maneuvour to drive the vehicle to MRC is called MRM(Minimal Risk Maneuvour).
• There are five types of MRM defined in the standard.
- Type 1: Stop of vehicle performed only by longitudinal control without manipulation of lateral control
- Type 2: Stop of vehicle within the boundary of the lane in which the vehicle was traveling before MRM was initiated performed by both longitudinal and lateral control
- Type 3: Stop of vehicle within the boundary of a lane that is adjacent to the lane in which the vehicle was traveling before MRM was initiated, performed by both longitudinal and lateral control
- Type 4: Stop of vehicle within the boundary of a shoulder area performed by both longitudinal and lateral control
- Type 5: Stop of vehicle within the boundary of a parking lane performed by both longitudinal and lateral control
• As a first part of the MRM standards, the proposed document includes the framework and two simplest types of MRM which are straight stop and in-lane Stop.
• It is expected that the MRM is included in majority of highly automated driving systems as fallback function is expected to be required for majority of highly automated driving systems.
• This standard will provide the common understanding on the behaviour of the automated driving systems after fallback, and it will be a valuable reference for developing related functions for automated driving systems.
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