Common use of Dynamic Driving Task Clause in Contracts

Dynamic Driving Task. 5.2.1. The activated system shall keep the vehicle inside its lane of travel and ensure that the vehicle does not cross any lane marking (outer edge of the front tyre to outer edge of the lane marking). The system shall aim to keep the vehicle in a stable lateral position inside the lane of travel to avoid confusing other road users. 5.2.2. The activated system shall detect a vehicle driving beside as defined in paragraph 7.1.2. and, if necessary, adjust the speed and/or the lateral position of the vehicle within its lane as appropriate. 5.2.3. The activated system shall control the speed of the vehicle. 5.2.3.1. The maximum speed up to which the system is permitted to operate is 60 km/h. 5.2.3.2. The activated system shall adapt the vehicle speed to infrastructural and environmental conditions (e.g. narrow curve radii, inclement weather). 5.2.3.3. The activated system shall detect the distance to the next vehicle in front as defined in paragraph 7.1.1. and shall adapt the vehicle speed in order to avoid collision. While the ALKS vehicle is not at standstill, the system shall adapt the speed to adjust the distance to a vehicle in front in the same lane to be equal or greater than the minimum following distance. In case the minimum time gap cannot be respected temporarily because of other road users (e.g. vehicle is cutting in, decelerating lead vehicle, etc.), the vehicle shall readjust the minimum following distance at the next available opportunity without any harsh braking unless an emergency manoeuvre would become necessary. The minimum following distance shall be calculated using the formula: dmin = vALKS* tfront Where: dmin = the minimum following distance vALKS = the present speed of the ALKS vehicle in m/s tfront = minimum time gap in seconds between the ALKS vehicle and a leading vehicle in front as per the table below: Present speed of the ALKS vehicle Minimum time gap Minimum following distance 7.2 2.0 1.0 2.0 10 2.78 1.1 3.1 20 5.56 1.2 6.7 30 8.33 1.3 10.8 40 11.11 1.4 15.6 50 13.89 1.5 20.8 60 16.67 1.6 26.7 For speed values not mentioned in the table, linear interpolation shall be applied. Notwithstanding the result of the formula above for present speeds below 2 m/s the minimum following distance shall never be less than 2 m. 5.2.4. The activated system shall be able to bring the vehicle to a complete stop behind a stationary vehicle, a stationary road user or a blocked lane of travel to avoid a collision. This shall be ensured up to the maximum operational speed of the system. 5.2.5. The activated system shall detect the risk of collision in particular with another road user ahead or beside the vehicle, due to a decelerating lead vehicle, a cutting in vehicle or a suddenly appearing obstacle and shall automatically perform appropriate manoeuvres to minimize risks to safety of the vehicle occupants and other road users. 5.2.5.1. The activated system shall avoid a collision with a leading vehicle which decelerates up to its full braking performance provided that there was no undercut of the minimum following distance the ALKS vehicle would adjust to a leading vehicle at the present speed due to a cut in manoeuvre of this lead vehicle. 5.2.5.2. The activated system shall avoid a collision with a cutting in vehicle, (a) Provided the cutting in vehicle maintains its longitudinal speed which is lower than the longitudinal speed of the ALKS vehicle and (b) Provided that the lateral movement of the cutting in vehicle has been visible for a time of at least 0.72 seconds before the reference point for TTCLaneIntrusion is reached, (c) When WKH GLVWDQFH EHWZHHQ WKH YHKLFOH¶V I YHKLFOH¶V UHDU FRUUHVSRQGV WR D 77& FD equation: Vrel = relative velocity between both vehicles, positive for vehicle being faster than the cutting in vehicle TTCLaneIntrusion = The TTC value, when the outside of the tyre of the LQWUXGLQJ YHKLFOH¶tVhe lanIe URQW ZKHHO markingx xxxsses a line 0.3 m beyond the outside edge of the visible lane marking to which the intruding vehicle is being drifted. ܶܶܥܮܽ݊݁ܫ݊>ݐݒݎݑ/݁ ݏ݈ ݅Â݋ ݊P Vݏð Where: 5.2.5.3. The activated system shall avoid a collision with an unobstructed crossing pedestrian in front of the vehicle. In a scenario with an unobstructed pedestrian crossing with a lateral speed component of not more than 5 km/h where the anticipated impact point is displaced by not more than 0.2 m compared to the vehicle longitudinal center plane, the activated ALKS shall avoid a collision up to the maximum operational speed of the system. 5.2.5.4. It is recognised that the fulfilment of the requirement in paragraph 5.2.5. may not be fully achieved in other conditions than those described above. However, the system shall not deactivate or unreasonably switch the control strategy in these other conditions. This shall be demonstrated in accordance with Annex 4 of this Regulation. 5.2.6. Reserved (Lane Change) 5.2.7. For conditions not specified in paragraphs 5.2.4., 5.2.5. or its subparagraphs, the performance of the system shall be ensured at least to the level at which a competent and careful human driver could minimize the risks. The attentive human driver performance model and related parameters in the traffic critical disturbance scenarios from Annex 3 may be taken as guidance. The capabilities of the system shall be demonstrated in the assessment carried out under Annex 4.

Dynamic Driving Task. 5.2.1. The activated system shall keep the vehicle inside its lane of travel and ensure that the vehicle does not cross any lane marking (outer edge of the front tyre to outer edge of the lane marking). The system shall aim to keep the vehicle in a stable lateral position inside the lane of travel to avoid confusing other road users. 5.2.2. The activated system shall detect a vehicle driving beside as defined in paragraph 7.1.2. and, if necessary, adjust the speed and/or the lateral position of the vehicle within its lane as appropriate. 5.2.3. The activated system shall control the speed of the vehicle. 5.2.3.1. The maximum speed up to which the system is permitted to operate is 60 km/h. 5.2.3.2. The activated system shall adapt the vehicle speed to infrastructural and environmental conditions (e.g. narrow curve radii, inclement weather). 5.2.3.3. The activated system shall detect the distance to the next vehicle in front as defined in paragraph 7.1.1. and shall adapt the vehicle speed in order to avoid collision. While the ALKS vehicle is not at standstill, the system shall adapt the speed to adjust the distance to a vehicle in front in the same lane to be equal or greater than the minimum following distance. In case the minimum time gap cannot be respected temporarily because of other road users (e.g. vehicle is cutting in, decelerating lead vehicle, etc.), the vehicle shall readjust the minimum following distance at the next available opportunity without any harsh braking unless an emergency manoeuvre would become necessary. The minimum following distance shall be calculated using the formula: dmin = vALKS* tfront Where: dmin = the minimum following distance vALKS = the present speed of the ALKS vehicle in m/s tfront = minimum time gap in seconds between the ALKS vehicle and a leading vehicle in front as per the table below: Present speed of the ALKS vehicle Minimum time gap Minimum following distance 7.2 2.0 1.0 2.0 10 2.78 1.1 3.1 20 5.56 1.2 6.7 30 8.33 1.3 10.8 40 11.11 1.4 15.6 50 13.89 1.5 20.8 60 16.67 1.6 26.7 For speed values not mentioned in the table, linear interpolation shall be applied. Notwithstanding the result of the formula above for present speeds below 2 m/s the minimum following distance shall never be less than 2 m. 5.2.4. The activated system shall be able to bring the vehicle to a complete stop behind a stationary vehicle, a stationary road user or a blocked lane of travel to avoid a collision. This shall be ensured up to the maximum operational speed of the system. 5.2.5. The activated system shall detect the risk of collision in particular with another road user ahead or beside the vehicle, due to a decelerating lead vehicle, a cutting in vehicle or a suddenly appearing obstacle and shall automatically perform appropriate manoeuvres to minimize risks to safety of the vehicle occupants and other road users. 5.2.5.1. The activated system shall avoid a collision with a leading vehicle which decelerates up to its full braking performance provided that there was no undercut of the minimum following distance the ALKS vehicle would adjust to a leading vehicle at the present speed due to a cut in manoeuvre of this lead vehicle. 5.2.5.2. The activated system shall avoid a collision with a cutting in vehicle, (a) Provided the cutting in vehicle maintains its longitudinal speed which is lower than the longitudinal speed of the ALKS vehicle and (b) Provided that the lateral movement of the cutting in vehicle has been visible for a time of at least 0.72 seconds before the reference point for TTCLaneIntrusion is reached, (c) When WKH GLVWDQFH EHWZHHQ WKH YHKLFOH¶V I YHKLFOH¶V UHDU FRUUHVSRQGV WR D 77& FD the distance between the vehicle’s front and the cutting in vehicle’s rear corresponds to a TTC calculated by the following equation: 𝑇𝑇𝐶𝐿𝑎𝑛𝑒𝐼𝑛𝑡𝑟𝑢𝑠𝑖𝑜𝑛 > 𝑣𝑟𝑒𝑙/(2∙6m/s²) + 0.35𝑠 Where: Vrel = relative velocity between both vehicles, positive for vehicle being faster than the cutting in vehicle TTCLaneIntrusion = The TTC value, when the outside of the tyre of the LQWUXGLQJ YHKLFOH¶tVhe lanIe URQW ZKHHO markingx xxxsses intruding vehicle’s front wheel closest to the lane markings crosses a line 0.3 m beyond the outside edge of the visible lane marking to which the intruding vehicle is being drifted. ܶܶܥܮܽ݊݁ܫ݊>ݐݒݎݑ/݁ ݏ݈ ݅Â݋ ݊P Vݏð Where:. 5.2.5.3. The activated system shall avoid a collision with an unobstructed crossing pedestrian in front of the vehicle. In a scenario with an unobstructed pedestrian crossing with a lateral speed component of not more than 5 km/h where the anticipated impact point is displaced by not more than 0.2 m compared to the vehicle longitudinal center plane, the activated ALKS shall avoid a collision up to the maximum operational speed of the system. 5.2.5.4. It is recognised that the fulfilment of the requirement in paragraph 5.2.5. may not be fully achieved in other conditions than those described above. However, the system shall not deactivate or unreasonably switch the control strategy in these other conditions. This shall be demonstrated in accordance with Annex 4 of this Regulation. 5.2.6. Reserved (Lane Change) 5.2.7. For conditions not specified in paragraphs 5.2.4., 5.2.5. or its subparagraphs, the performance of the system shall be ensured at least to the level at which a competent and careful human driver could minimize the risks. The attentive human driver performance model and related parameters in the traffic critical disturbance scenarios from Annex 3 may be taken as guidance. The capabilities of the system shall be demonstrated in the assessment carried out under Annex 4.

Dynamic Driving Task. 5.2.1. The activated system shall keep the vehicle inside its lane of travel and ensure that the vehicle does not cross any lane marking (outer edge of the front tyre to outer edge of the lane marking). The system shall aim to keep the vehicle in a stable lateral position inside the lane of travel to avoid confusing other road users. 5.2.2. The activated system shall detect a vehicle driving beside as defined in paragraph 7.1.2. and, if necessary, adjust the speed and/or the lateral position of the vehicle within its lane as appropriate. 5.2.3. The activated system shall control the speed of the vehicle. 5.2.3.1. The maximum speed up to which the system is permitted to operate is 60 km/h. 5.2.3.2. The activated system shall adapt the vehicle speed to infrastructural and environmental conditions (e.g. narrow curve radii, inclement weather). 5.2.3.3. The activated system shall detect the distance to the next vehicle in front as defined in paragraph 7.1.1. and shall adapt the vehicle speed in order to avoid collision. While the ALKS vehicle is not at standstill, the system shall adapt the speed to adjust the distance to a vehicle in front in the same lane to be equal or greater than the minimum following distance. In case the minimum time gap cannot be respected temporarily because of other road users (e.g. vehicle is cutting in, decelerating lead vehicle, etc.), the vehicle shall readjust the minimum following distance at the next available opportunity without any harsh braking unless an emergency manoeuvre would become necessary. The minimum following distance shall be calculated using the formula: dmin = vALKS* tfront Where: dmin = the minimum following distance vALKS = the present speed of the ALKS vehicle in m/s tfront = minimum time gap in seconds between the ALKS vehicle and a leading vehicle in front as per the table below: Present speed of the ALKS vehicle Minimum time gap Minimum following distance (km/h) (m/s) (s) (m) 7.2 2.0 1.0 2.0 10 2.78 1.1 3.1 20 5.56 1.2 6.7 30 8.33 1.3 10.8 40 11.11 1.4 15.6 50 13.89 1.5 20.8 60 16.67 1.6 26.7 For speed values not mentioned in the table, linear interpolation shall be applied. Notwithstanding the result of the formula above for present speeds below 2 m/s the minimum following distance shall never be less than 2 m. 5.2.4. The activated system shall be able to bring the vehicle to a complete stop behind a stationary vehicle, a stationary road user or a blocked lane of travel to avoid a collision. This shall be ensured up to the maximum operational speed of the system. 5.2.5. The activated system shall detect the risk of collision in particular with another road user ahead or beside the vehicle, due to a decelerating lead vehicle, a cutting in vehicle or a suddenly appearing obstacle and shall automatically perform appropriate manoeuvres to minimize risks to safety of the vehicle occupants and other road users. 5.2.5.1. The activated system shall avoid a collision with a leading vehicle which decelerates up to its full braking performance provided that there was no undercut of the minimum following distance the ALKS vehicle would adjust to a leading vehicle at the present speed due to a cut in manoeuvre of this lead vehicle. 5.2.5.2. The activated system shall avoid a collision with a cutting in vehicle, (a) Provided the cutting in vehicle maintains its longitudinal speed which is lower than the longitudinal speed of the ALKS vehicle and (b) Provided that the lateral movement of the cutting in vehicle has been visible for a time of at least 0.72 seconds before the reference point for TTCLaneIntrusion is reached, (c) When WKH GLVWDQFH EHWZHHQ WKH YHKLFOH¶V I YHKLFOH¶V UHDU FRUUHVSRQGV WR D 77& FD the distance between the vehicle’s front and the cutting in vehicle’s rear corresponds to a TTC calculated by the following equation: 𝑇𝑇𝐶𝐿𝑎𝑛𝑒𝐼𝑛𝑡𝑟𝑢𝑠𝑖𝑜𝑛 > 𝑣𝑟𝑒𝑙/(2∙6m/s²) + 0.35𝑠 Where: Vrel = relative velocity between both vehicles, positive for vehicle being faster than the cutting in vehicle TTCLaneIntrusion = The TTC value, when the outside of the tyre of the LQWUXGLQJ YHKLFOH¶tVhe lanIe URQW ZKHHO markingx xxxsses intruding vehicle’s front wheel closest to the lane markings crosses a line 0.3 m beyond the outside edge of the visible lane marking to which the intruding vehicle is being drifted. ܶܶܥܮܽ݊݁ܫ݊>ݐݒݎݑ/݁ ݏ݈ ݅Â݋ ݊P Vݏð Where:. 5.2.5.3. The activated system shall avoid a collision with an unobstructed crossing pedestrian in front of the vehicle. In a scenario with an unobstructed pedestrian crossing with a lateral speed component of not more than 5 km/h where the anticipated impact point is displaced by not more than 0.2 m compared to the vehicle longitudinal center plane, the activated ALKS shall avoid a collision up to the maximum operational speed of the system. 5.2.5.4. It is recognised that the fulfilment of the requirement in paragraph 5.2.5. may not be fully achieved in other conditions than those described above. However, the system shall not deactivate or unreasonably switch the control strategy in these other conditions. This shall be demonstrated in accordance with Annex 4 of this Regulation. 5.2.6. Reserved (Lane Change) 5.2.7. For conditions not specified in paragraphs 5.2.4., 5.2.5. or its subparagraphs, the performance of the system shall be ensured at least to the level at which a competent and careful human driver could minimize the risks. The attentive human driver performance model and related parameters in the traffic critical disturbance scenarios from Annex 3 may be taken as guidance. The capabilities of the system shall be demonstrated in the assessment carried out under Annex 4.

Dynamic Driving Task. 5.2.1. The activated system shall keep the vehicle inside its lane of travel and ensure that the vehicle does not cross any lane marking (outer edge of the front tyre to outer edge of the lane marking). The system shall aim to keep the vehicle in a stable lateral position inside the lane of travel to avoid confusing other road users. 5.2.2. The activated system shall detect a vehicle driving beside as defined in paragraph 7.1.2. and, if necessary, adjust the speed and/or the lateral position of the vehicle within its lane as appropriate. 5.2.3. The activated system shall control the speed of the vehicle. 5.2.3.1. The maximum speed up to which the system is permitted to operate is 60 km/h. 5.2.3.2. The activated system shall adapt the vehicle speed to infrastructural and environmental conditions (e.g. narrow curve radii, inclement weather). 5.2.3.3. The activated system shall detect the distance to the next vehicle in front as defined in paragraph 7.1.1. and shall adapt the vehicle speed in order to avoid collision. While the ALKS vehicle is not at standstill, the system shall adapt the speed to adjust the distance to a vehicle in front in the same lane to be equal or greater than the minimum following distance. In case the minimum time gap cannot be respected temporarily because of other road users (e.g. vehicle is cutting in, decelerating lead vehicle, etc.), the vehicle shall readjust the minimum following distance at the next available opportunity without any harsh braking unless an emergency manoeuvre would become necessary. The minimum following distance shall be calculated using the formula: dmin = vALKS* tfront Where: dmin = the minimum following distance vALKS = the present speed of the ALKS vehicle in m/s tfront = minimum time gap in seconds between the ALKS vehicle and a leading vehicle in front as per the table below: Present speed of the ALKS vehicle Minimum time gap Minimum following distance (km/h) (m/s) (s) (m) 7.2 2.0 1.0 2.0 10 2.78 1.1 3.1 20 5.56 1.2 6.7 30 8.33 1.3 10.8 40 11.11 1.4 15.6 50 13.89 1.5 20.8 60 16.67 1.6 26.7 For speed values not mentioned in the table, linear interpolation shall be applied. Notwithstanding the result of the formula above for present speeds below 2 m/s the minimum following distance shall never be less than 2 m. 5.2.4. The activated system shall be able to bring the vehicle to a complete stop behind a stationary vehicle, a stationary road user or a blocked lane of travel to avoid a collision. This shall be ensured up to the maximum operational speed of the system. 5.2.5. The activated system shall detect the risk of collision in particular with another road user ahead or beside the vehicle, due to a decelerating lead vehicle, a cutting in vehicle or a suddenly appearing obstacle and shall automatically perform appropriate manoeuvres to minimize risks to safety of the vehicle occupants and other road users. 5.2.5.1. The activated system shall avoid a collision with a leading vehicle which decelerates up to its full braking performance provided that there was no undercut of the minimum following distance the ALKS vehicle would adjust to a leading vehicle at the present speed due to a cut in manoeuvre of this lead vehicle. 5.2.5.2. The activated system shall avoid a collision with a cutting in vehicle, (a) Provided the cutting in vehicle maintains its longitudinal speed which is lower than the longitudinal speed of the ALKS vehicle and (b) Provided that the lateral movement of the cutting in vehicle has been visible for a time of at least 0.72 seconds before the reference point for TTCLaneIntrusion is reached, (c) When WKH GLVWDQFH EHWZHHQ WKH YHKLFOH¶V I YHKLFOH¶V UHDU FRUUHVSRQGV WR D 77& FD the distance between the vehicle’s front and the cutting in vehicle’s rear corresponds to a TTC calculated by the following equation: > /(2∙6m/s²) + 0.35 Vrel = relative velocity between both vehicles, positive for vehicle being faster than the cutting in vehicle TTCLaneIntrusion = The TTC value, when the outside of the tyre of the LQWUXGLQJ YHKLFOH¶tVhe lanIe URQW ZKHHO markingx xxxsses intruding vehicle’s front wheel closest to the lane markings crosses a line 0.3 m beyond the outside edge of the visible lane marking to which the intruding vehicle is being drifted. ܶܶܥܮܽ݊݁ܫ݊>ݐݒݎݑ/݁ ݏ݈ ݅Â݋ ݊P Vݏð Where:. 5.2.5.3. The activated system shall avoid a collision with an unobstructed crossing pedestrian in front of the vehicle. In a scenario with an unobstructed pedestrian crossing with a lateral speed component of not more than 5 km/h where the anticipated impact point is displaced by not more than 0.2 m compared to the vehicle longitudinal center plane, the activated ALKS shall avoid a collision up to the maximum operational speed of the system. 5.2.5.4. It is recognised that the fulfilment of the requirement in paragraph 5.2.5. may not be fully achieved in other conditions than those described above. However, the system shall not deactivate or unreasonably switch the control strategy in these other conditions. This shall be demonstrated in accordance with Annex 4 of this Regulation. 5.2.6. Reserved (Lane Change) 5.2.7. For conditions not specified in paragraphs 5.2.4., 5.2.5. or its subparagraphs, the performance of the system shall be ensured at least to the level at which a competent and careful human driver could minimize the risks. The attentive human driver performance model and related parameters in the traffic critical disturbance scenarios from Annex 3 may be taken as guidance. The capabilities of the system shall be demonstrated in the assessment carried out under Annex 4.