COMMISSION IMPLEMENTING REGULATION (EU) 2022/1426
of 5 August 2022
laying down rules for the application of Regulation (EU) 2019/2144 of the European Parliament and of the Council as regards uniform procedures and technical specifications for the type-approval of the automated driving system (ADS) of fully automated vehicles
(Text with EEA relevance)
Article 1
Scope
Article 2
Definitions
Article 3
Administrative provisions and technical specifications for the type-approval of the automated driving system of fully automated vehicles
Article 4
Entry into force
ANNEX I
Information document for EU type-approval of fully automated vehicles with regard to their automated driving system
MODEL
ANNEX II
Performance requirements
1.
DDT under nominal traffic scenarios.
2.
DDT under critical traffic scenarios (emergency operation).
3.
DDT at ODD boundaries
4.
DDT under failure scenarios
5.
Minimal risk manoeuvre (MRM) and Minimal risk Condition (MRC)
6.
Human machine interaction
7.
Functional and operational safety
8.
Cyber security and software updates
9.
ADS data requirements and specific data elements for event data recorder for fully automated vehicles
10.
Manual driving mode
11.
Operating manual
12.
Provisions for periodic roadworthiness tests
ANNEX III
Compliance assessment
PART 1
TRAFFIC SCENARIOS TO CONSIDER
v rel [km/h] |
[s] for vehicles with standing or unfastened vehicle occupants |
[s] for other vehicles |
10 |
0,74 |
0,48 |
20 |
1,32 |
0,71 |
30 |
1,9 |
0,94 |
40 |
2,47 |
1,18 |
50 |
3,05 |
1,41 |
60 |
3,63 |
1,64 |
Appendix 1
Principles to be followed to derive scenarios relevant for the ODD of the ADS
1. Generation and classification of scenarios
2. Nominal scenarios
2.1. ODD analysis
Objects |
Events/Interactions |
Vehicles (e.g. cars, light trucks, heavy trucks, buses, motorcycles) |
Lead vehicle decelerating (frontal) Lead vehicle stopped (frontal) Lead vehicle accelerating (frontal) Changing lanes (frontal/side) Cutting in (adjacent) Turning (frontal) Encroaching opposing vehicle (frontal/side) Encroaching adjacent vehicle (frontal/side) Entering roadway (frontal/side) Cutting out (frontal) |
Pedestrians |
Crossing road – inside crosswalk (frontal) Crossing road – outside crosswalk (frontal) Walking on side walk/shoulder |
Cyclists |
Riding in lane (frontal) Riding in adjacent lane (frontal/side) Riding in dedicated lane (frontal/side) Riding on sidewalk/shoulder Crossing road – inside crosswalk (frontal/side) Crossing road – outside crosswalk (frontal/side) |
Animals |
Static in lane (frontal) Moving into/out of lane (frontal/side) Static/moving in adjacent lane (frontal) Static/moving on shoulder |
Debris |
Static in lane (frontal) |
Other dynamic objects (e.g. shopping carts) |
Static in lane (frontal/side) Moving into/out of lane (frontal/side) |
Traffic signs |
Stop, yield, speed limit, crosswalk, railroad, crossing, school zone |
Traffic signals |
Intersection, railroad crossing, school zone |
Vehicle signals |
Turn signals (direction indicator) |
2.2. OEDR Analysis: Behaviour competency identification
Event |
Response |
Lead vehicle decelerating |
Follow vehicle, decelerate, stop |
Lead vehicle stopped |
Decelerate, stop |
Lead vehicle accelerating |
Accelerate, follow vehicle |
Lead vehicle turning |
Decelerate, stop |
Other vehicle changing lanes |
Yield, decelerate, follow vehicle |
Other vehicle cutting-in |
Yield, decelerate, stop, follow vehicle |
Vehicle entering roadway |
Follow vehicle, decelerate, stop |
Opposing vehicle encroaching |
Decelerate, stop, shift within lane, shift outside lane |
Adjacent vehicle encroaching |
Yield, decelerate, stop |
Lead vehicle cutting out |
Accelerate, decelerate, stop |
Pedestrian crossing road – inside crosswalk |
Yield, decelerate, stop |
Pedestrian crossing road – outside crosswalk |
Yield, decelerate, stop |
Cyclists riding in lane |
Yield, follow |
Cyclists riding in dedicated lane |
Shift within lane |
Cyclists crossing road – inside crosswalk |
Yield, decelerate, stop |
Cyclists crossing road – outside crosswalk |
Yield, decelerate, stop |
3. Critical scenarios
4. Failure scenarios
5. Assumptions: Logical to concrete scenarios
PART 2
ASSESSMENT OF THE ADS SAFETY CONCEPT AND AUDIT OF THE MANUFACTURER SAFETY MANAGEMENT SYSTEM
1. General
2. Definitions
3. Documentation on the ADS
3.1. Requirements
3.2. General description of the ADS
3.3. Description of the functions of the ADS
3.4. ADS layout and schematics
3.5. Safety concept of the manufacturer and validation of the safety concept by the manufacturer
4. Verification and tests
5. Safety management system (SMS)
6. Reporting provision
7. Competence of the auditors/assessors
Appendix 1
Model for the assessment report of the ADS safety concept
Appendix 2
Model of the ADS assessment results to be annexed to the type-approval certificate
Appendix 3
Model of Manufacturer’s Declaration of Compliance for SMS
Manufacturer’s declaration of compliance with the requirements for the Safety Management System
Appendix 4
Model of Certificate of Compliance for SMS
Certificate of Compliance for Safety Management System
PART 3
TESTS
1. General provisions
2. Test site
3. Environmental conditions
4. System modifications for testing purposes
5. Vehicle conditions
6. Test tools
7. Test parameter variation
8. Tests scenarios to assess the performance of the ADS on a test track (points 8.1., 8.2., 8.5, 8.6, 8.7, 8.8, 8.9.) and on-road (8.3., 8.4., 8.10.)
8.1. Lane keeping
8.2. Lane changing manoeuvre (LCM)
8.3. Response to different road geometries
8.4. Response to national traffic rules and road infrastructure
8.5. Collision avoidance: Avoid a collision with road users or objects blocking the lane
8.6. Avoid emergency braking before a passable object in the lane. A ‘passable object’ is such an object, that may be rolled over without causing an unreasonable risk to the vehicle occupants or other road users.
8.7. Following a lead vehicle
8.8. Lane change of another vehicle into lane (cut-in)
8.9. Stationary obstacle after lane change of the lead vehicle (cut-out)
8.10. Parking
8.11. Navigating in a parking facility
8.12. Specific scenarios for motorway
8.13. For dual mode vehicles, transition between the manual driving mode and the fully automated mode.
PART 4
PRINCIPLES FOR CREDIBILITY ASSESSMENT FOR USING VIRTUAL TOOLCHAIN IN ADS VALIDATION
1. General
2. Definitions
3. Components of the credibility assessment framework and related documentation requirements
4. Documentation structure
PART 5
IN-SERVICE REPORTING
1. Definitions
2. Notifications and reporting by the manufacturer
Appendix 1
List of occurrences for in-service reporting
OCCURRENCE |
SHORT-TERM REPORTING (1 month |
PERIODIC REPORTING (1 year) |
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X |
X |
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X |
X |
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X |
X |
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X |
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X |
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X |
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X |
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X |
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X |
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X |
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X (if modifications made by manufacturer to address a newly identified and significant ADS safety issue involving an unreasonable risk, including description of any previously unanticipated scenarios.) |
X |