Lane Keeping. 4.1.1. The test shall demonstrate that the ALKS does not leave its lane and maintains a stable position inside its ego lane across the speed range and different curvatures within its system boundaries. 4.1.2. The test shall be executed at least: (a) With a minimum test duration of 5 minutes; (b) With a passenger car target as well as a PTW target as the lead vehicle / other vehicle; (c) With a lead vehicle swerving in the lane; and (d) With another vehicle driving close beside in the adjacent lane.
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Sources: Agreement Concerning the Adoption of Harmonized Technical United Nations Regulations for Wheeled Vehicles, Agreement Concerning the Adoption of Harmonized Technical United Nations Regulations for Wheeled Vehicles, Agreement Concerning the Adoption of Harmonized Technical United Nations Regulations for Wheeled Vehicles