Codeofchina.com is in charge of this English translation. In case of any doubt about the English translation, the Chinese original shall be considered authoritative.
This standard is developed in accordance with the rules given in GB/T 1.1-2009.
This standard was proposed by the Ministry of Industry and Information Technology of the People's Republic of China.
This standard is under the jurisdiction of SAC/TC 114 National Technical Committee of Auto Standardization.
Taxonomy of driving automation for vehicles
1 Scope
This standard specifies the taxonomy of driving automation for vehicles.
This standard applies to Classes M and N vehicles with driving automation feature, and to other types of vehicles by reference.
2 Terms and definitions
For the purposes of this standard, the following terms and definitions apply.
2.1
driving automation
behavior that vehicles continuously perform some or all dynamic driving tasks in an automatic manner
2.2
driving automation system
system composed of hardware and software for driving automation
2.3
driving automation feature
ability of the automatic driving system to perform some or all of the dynamic driving tasks within the specific operational design conditions
Note: a driving automation system can perform one or more driving automation features, and each feature is associated with a specific driving automation level and operational design condition. In order to accurately describe the ability of the driving automation system, it is necessary to define both of its driving automation level and design operating conditions.
2.4
dynamic driving task; DDT
behavior required for vehicle driving, such as perception, decision-making and execution, except maneuver features, including but not limited to:
—— lateral vehicle motion control;
——longitudinal vehicle motion control;
—— object and event detection and response;
—— driving decision making; and
—— vehicle lighting and signal device control.
Note 1: maneuver features include navigation, trip planning, destination and route selection, etc.
Note 2: dynamic driving task is generally completed by the driver, driving automation system or both.
2.5
lateral vehicle motion control
real-time vehicle motion control along Y axis (as shown in Figure 1) in dynamic driving tasks
2.6
longitudinal vehicle motion control
real-time vehicle motion control along X axis (as shown in Figure 1) in dynamic driving tasks
Figure 1 Vehicle motion reference coordinate system
2.7
object and event detection and response; OEDR
detecting objects and events and responding appropriately
2.8
minimal risk condition; MRC
acceptable condition of a vehicle accident risk
2.9
minimal risk maneuver; MRM
measure taken to make the vehicle reach the minimum risk condition when the automatic driving system can't continue to perform dynamic driving tasks
2.10
dynamic driving task fallback
fallback where the user takes it over or the driving automation system executes the minimal risk maneuver when it fails to meet the operational design conditions, for example, the operational design domain is about to be exceeded, the driving automation system fails or other systems of the vehicle fail
2.11
operational design domain; ODD
external environmental conditions applicable to the function operation, determined in the design of the driving automation system
Note: typical external environmental conditions include roads, traffic, weather, light, etc.
2.12
operational design condition; ODC
generic term of various conditions applicable to the function operation, determined in the design of the driving automation system, including the operational design domain, vehicle conditions, driver and passenger conditions and other necessary conditions
2.13
request to intervene
notice of driving automation system to request the dynamic driving task fallback user to take over
2.14
take over
behavior that the dynamic driving task fallback user responds to the request to intervene and obtains the right of driving the vehicle from the driving automation system
2.15
driving automation system failure
failure of the driving automation system, making it impossible to reliably perform some or all dynamic driving tasks
Example: sensor failure, etc.
2.16
other vehicle system failure
failure of other systems of vehicle than the driving automation system, making it impossible to reliably perform some or all dynamic driving tasks
Example: brake caliper failure, etc.
2.17
user
generic name of human roles related to driving automation
Note: the role of the user can be switched under specific conditions.
2.17.1
driver
user who performs some or all of the dynamic driving tasks of a specific vehicle and/or take it over in real time
2.17.1.1
conventional driver
driver who sits in the driver's seat and manually controls the vehicle by directly operating the vehicle braking, acceleration, steering and gear shifting devices
2.17.1.2
remote driver
driver who can operate the vehicle in real time away from the driver's seat where the driver can directly operate braking, acceleration, steering and gear shifting devices manually
Note: remote driver can be the users inside the vehicle and the users who can or can not visually see the vehicle.
2.17.2
passenger
user who sits in the vehicle without any dynamic driving task and takeover
2.17.3
DDT fallback-ready user
user who can identify the request to intervene sent by the driving automation system and obvious failure in dynamic driving tasks while Level 3 driving automation system is operating, and then takes over the driving task
Note 1: this term applies to Level 3 driving automation feature, which is not available in Level 4 and Level 5. DDT fallback-ready user can either be inside or outside the vehicle.
Note 2: DDT fallback-ready user becomes a driver when he or she performs some or all dynamic driving tasks.
2.17.4
dispatcher
user who activates the driving automation system to realize the vehicle dispatching service but does not perform dynamic driving tasks during unmanned driving
Note: dispatchers can only dispatch vehicles with Level 4 and Level 5 driving automation features which are designed to operate over the whole trip. If the route of driving automation system is not designed, the dispatcher also needs to specify the destination.
3 Taxonomy of driving automation
3.1 Principle
Driving automation is classified into Level 0 to Level 5 based on the degree to which the driving automation system can perform dynamic driving tasks and according to the role assignment in performing dynamic driving tasks and whether there is a design operating range limitation。 See Annex A for the relationship between driving level and classification factors. See Annex B for the roles of users and driving automation system.
3.2 Classification factors
Classification of driving automation levels is based on:
——whether the driving automation system continuously performs object and event detection and response in dynamic driving tasks;
——whether the driving automation system continuously performs the lateral or longitudinal vehicle motion control in dynamic driving tasks;
——whether the driving automation system continuously performs both the lateral and longitudinal vehicle motion control in dynamic driving tasks;
——whether the driving automation system continuously performs all dynamic driving tasks;
——whether the driving automation system automatically performs the minimal risk maneuver;
——whether the driving automation system is limited by the operational design domain.
3.3 Grading of driving automation
3.3.1 Level-0 driving automation
Class-0 driving automation (emergency assistance) system can't continuously perform the lateral or longitudinal vehicle motion control in dynamic driving tasks, but it is capable of continuously performing some object and event detection and response in dynamic driving tasks.
Note 1: Level-0 driving automation, which is not driverless automation, can sense the environment and provide prompt or briefly intervene in vehicle control to help drivers avoid risks (for example, lane departure warning, forward collision warning, automatic emergency braking, lane departure suppression and other auxiliary functions provided in emergencies).
Note 2: Features without object and event detection and response ability (such as cruise control, electronic stability control) are not within the scope of driving automation features.
3.3.2 Level-1 driving automation
Level-1 driving automation (partial driver assistance) system continuously performs lateral or longitudinal vehicle motion control in dynamic driving tasks under its operational design condition. It has some objects and event detection and response that are suitable for the lateral or longitudinal vehicle motion control.
Note: For Level-1 driving automation, the driver and the driving automation system jointly perform all dynamic driving tasks, supervise the behavior of the driving automation system and perform appropriate responses or operations (such as lane centering control, adaptive cruise control).
3.3.3 Level-2 driving automation
Level-2 driving automation (combined driver assistance) system continuously performs vehicle lateral and longitudinal vehicle motion control in dynamic driving tasks under its operational design condition, and has some object and event detection and response that are suitable for the lateral and longitudinal vehicle motion control.
Note: For Level-2 driving automation, the driver and the driving automation system jointly perform all dynamic driving tasks, supervise the behavior of the driving automation system and perform appropriate responses or operations.
3.3.4 Level-3 driving automation
Level-3 driving automation (conditionally automated driving) system continuously performs all dynamic driving tasks under its operational design condition.
Note: For Level-3 driving automation, DDT fallback-ready user takes over driving in an appropriate way.
3.3.5 Level-4 driving automation
Level-4 driving automation (highly automated driving) system continuously performs all dynamic driving tasks and automatically performs the minimal risk maneuver under its operational design condition.
Note 1: For Level-4 driving automation, when the system sends out a request to intervene, the user may not make a response, and the system has the ability to automatically reach the minimum risk condition.
Note 2: Some vehicles with Level-4 driving automation system have no manual driving features, such as the park shuttle bus.
3.3.6 Level-5 driving automation
Level-5 driving automation (fully automated driving) system continuously performs all dynamic driving tasks and automatically performs the minimal risk maneuver under any drivable conditions.
Note 1: For Level-5 driving automation, when the system sends out a request to intervene, the user may not make a response, and the system has the ability to automatically reach the minimum risk condition.
Note 2: Level-5 driving automation is not limited by the operational design domain (except for commercial and regulatory factors) in the vehicle drivable environment.
3.4 Technical requirements for driving automation levels
3.4.1 Level-0 driving automation
Level-0 driving automation system shall:
a) have the ability to continuously perform some object and event detection and response;
b) immediately release the system control right when the driver requires the driving automation system to quit.
Note: When the lane departure suppression system works, the driver can actively control the steering wheel so that the lane departure suppression system can quit.
3.4.2 Level-1 driving automation
Level-1 driving automation system shall:
a) continuously perform lateral or longitudinal vehicle motion control in dynamic driving tasks;
b) have some object and event detection and response ability suitable for the lateral or longitudinal vehicle motion control;
c) immediately release the system control right when the driver requires the driving automation system to quit.
Foreword i
1 Scope
2 Terms and definitions
3 Taxonomy of driving automation
3.1 Principle
3.2 Classification factors
3.3 Grading of driving automation
3.3.1 Level-0 driving automation
3.3.2 Level-1 driving automation
3.3.3 Level-2 driving automation
3.3.4 Level-3 driving automation
3.3.5 Level-4 driving automation
3.3.6 Level-5 driving automation
3.4 Technical requirements for driving automation levels
3.4.1 Level-0 driving automation
3.4.2 Level-1 driving automation
3.4.3 Level-2 driving automation
3.4.4 Level-3 driving automation
3.4.5 Level-4 driving automation
3.4.6 Level-5 driving automation
Annex A (Informative) Relationship between driving automation level and classification factor
Annex B (Informative) Role of user and driving automation system
Codeofchina.com is in charge of this English translation. In case of any doubt about the English translation, the Chinese original shall be considered authoritative.
This standard is developed in accordance with the rules given in GB/T 1.1-2009.
This standard was proposed by the Ministry of Industry and Information Technology of the People's Republic of China.
This standard is under the jurisdiction of SAC/TC 114 National Technical Committee of Auto Standardization.
Taxonomy of driving automation for vehicles
1 Scope
This standard specifies the taxonomy of driving automation for vehicles.
This standard applies to Classes M and N vehicles with driving automation feature, and to other types of vehicles by reference.
2 Terms and definitions
For the purposes of this standard, the following terms and definitions apply.
2.1
driving automation
behavior that vehicles continuously perform some or all dynamic driving tasks in an automatic manner
2.2
driving automation system
system composed of hardware and software for driving automation
2.3
driving automation feature
ability of the automatic driving system to perform some or all of the dynamic driving tasks within the specific operational design conditions
Note: a driving automation system can perform one or more driving automation features, and each feature is associated with a specific driving automation level and operational design condition. In order to accurately describe the ability of the driving automation system, it is necessary to define both of its driving automation level and design operating conditions.
2.4
dynamic driving task; DDT
behavior required for vehicle driving, such as perception, decision-making and execution, except maneuver features, including but not limited to:
—— lateral vehicle motion control;
——longitudinal vehicle motion control;
—— object and event detection and response;
—— driving decision making; and
—— vehicle lighting and signal device control.
Note 1: maneuver features include navigation, trip planning, destination and route selection, etc.
Note 2: dynamic driving task is generally completed by the driver, driving automation system or both.
2.5
lateral vehicle motion control
real-time vehicle motion control along Y axis (as shown in Figure 1) in dynamic driving tasks
2.6
longitudinal vehicle motion control
real-time vehicle motion control along X axis (as shown in Figure 1) in dynamic driving tasks
Figure 1 Vehicle motion reference coordinate system
2.7
object and event detection and response; OEDR
detecting objects and events and responding appropriately
2.8
minimal risk condition; MRC
acceptable condition of a vehicle accident risk
2.9
minimal risk maneuver; MRM
measure taken to make the vehicle reach the minimum risk condition when the automatic driving system can't continue to perform dynamic driving tasks
2.10
dynamic driving task fallback
fallback where the user takes it over or the driving automation system executes the minimal risk maneuver when it fails to meet the operational design conditions, for example, the operational design domain is about to be exceeded, the driving automation system fails or other systems of the vehicle fail
2.11
operational design domain; ODD
external environmental conditions applicable to the function operation, determined in the design of the driving automation system
Note: typical external environmental conditions include roads, traffic, weather, light, etc.
2.12
operational design condition; ODC
generic term of various conditions applicable to the function operation, determined in the design of the driving automation system, including the operational design domain, vehicle conditions, driver and passenger conditions and other necessary conditions
2.13
request to intervene
notice of driving automation system to request the dynamic driving task fallback user to take over
2.14
take over
behavior that the dynamic driving task fallback user responds to the request to intervene and obtains the right of driving the vehicle from the driving automation system
2.15
driving automation system failure
failure of the driving automation system, making it impossible to reliably perform some or all dynamic driving tasks
Example: sensor failure, etc.
2.16
other vehicle system failure
failure of other systems of vehicle than the driving automation system, making it impossible to reliably perform some or all dynamic driving tasks
Example: brake caliper failure, etc.
2.17
user
generic name of human roles related to driving automation
Note: the role of the user can be switched under specific conditions.
2.17.1
driver
user who performs some or all of the dynamic driving tasks of a specific vehicle and/or take it over in real time
2.17.1.1
conventional driver
driver who sits in the driver's seat and manually controls the vehicle by directly operating the vehicle braking, acceleration, steering and gear shifting devices
2.17.1.2
remote driver
driver who can operate the vehicle in real time away from the driver's seat where the driver can directly operate braking, acceleration, steering and gear shifting devices manually
Note: remote driver can be the users inside the vehicle and the users who can or can not visually see the vehicle.
2.17.2
passenger
user who sits in the vehicle without any dynamic driving task and takeover
2.17.3
DDT fallback-ready user
user who can identify the request to intervene sent by the driving automation system and obvious failure in dynamic driving tasks while Level 3 driving automation system is operating, and then takes over the driving task
Note 1: this term applies to Level 3 driving automation feature, which is not available in Level 4 and Level 5. DDT fallback-ready user can either be inside or outside the vehicle.
Note 2: DDT fallback-ready user becomes a driver when he or she performs some or all dynamic driving tasks.
2.17.4
dispatcher
user who activates the driving automation system to realize the vehicle dispatching service but does not perform dynamic driving tasks during unmanned driving
Note: dispatchers can only dispatch vehicles with Level 4 and Level 5 driving automation features which are designed to operate over the whole trip. If the route of driving automation system is not designed, the dispatcher also needs to specify the destination.
3 Taxonomy of driving automation
3.1 Principle
Driving automation is classified into Level 0 to Level 5 based on the degree to which the driving automation system can perform dynamic driving tasks and according to the role assignment in performing dynamic driving tasks and whether there is a design operating range limitation。 See Annex A for the relationship between driving level and classification factors. See Annex B for the roles of users and driving automation system.
3.2 Classification factors
Classification of driving automation levels is based on:
——whether the driving automation system continuously performs object and event detection and response in dynamic driving tasks;
——whether the driving automation system continuously performs the lateral or longitudinal vehicle motion control in dynamic driving tasks;
——whether the driving automation system continuously performs both the lateral and longitudinal vehicle motion control in dynamic driving tasks;
——whether the driving automation system continuously performs all dynamic driving tasks;
——whether the driving automation system automatically performs the minimal risk maneuver;
——whether the driving automation system is limited by the operational design domain.
3.3 Grading of driving automation
3.3.1 Level-0 driving automation
Class-0 driving automation (emergency assistance) system can't continuously perform the lateral or longitudinal vehicle motion control in dynamic driving tasks, but it is capable of continuously performing some object and event detection and response in dynamic driving tasks.
Note 1: Level-0 driving automation, which is not driverless automation, can sense the environment and provide prompt or briefly intervene in vehicle control to help drivers avoid risks (for example, lane departure warning, forward collision warning, automatic emergency braking, lane departure suppression and other auxiliary functions provided in emergencies).
Note 2: Features without object and event detection and response ability (such as cruise control, electronic stability control) are not within the scope of driving automation features.
3.3.2 Level-1 driving automation
Level-1 driving automation (partial driver assistance) system continuously performs lateral or longitudinal vehicle motion control in dynamic driving tasks under its operational design condition. It has some objects and event detection and response that are suitable for the lateral or longitudinal vehicle motion control.
Note: For Level-1 driving automation, the driver and the driving automation system jointly perform all dynamic driving tasks, supervise the behavior of the driving automation system and perform appropriate responses or operations (such as lane centering control, adaptive cruise control).
3.3.3 Level-2 driving automation
Level-2 driving automation (combined driver assistance) system continuously performs vehicle lateral and longitudinal vehicle motion control in dynamic driving tasks under its operational design condition, and has some object and event detection and response that are suitable for the lateral and longitudinal vehicle motion control.
Note: For Level-2 driving automation, the driver and the driving automation system jointly perform all dynamic driving tasks, supervise the behavior of the driving automation system and perform appropriate responses or operations.
3.3.4 Level-3 driving automation
Level-3 driving automation (conditionally automated driving) system continuously performs all dynamic driving tasks under its operational design condition.
Note: For Level-3 driving automation, DDT fallback-ready user takes over driving in an appropriate way.
3.3.5 Level-4 driving automation
Level-4 driving automation (highly automated driving) system continuously performs all dynamic driving tasks and automatically performs the minimal risk maneuver under its operational design condition.
Note 1: For Level-4 driving automation, when the system sends out a request to intervene, the user may not make a response, and the system has the ability to automatically reach the minimum risk condition.
Note 2: Some vehicles with Level-4 driving automation system have no manual driving features, such as the park shuttle bus.
3.3.6 Level-5 driving automation
Level-5 driving automation (fully automated driving) system continuously performs all dynamic driving tasks and automatically performs the minimal risk maneuver under any drivable conditions.
Note 1: For Level-5 driving automation, when the system sends out a request to intervene, the user may not make a response, and the system has the ability to automatically reach the minimum risk condition.
Note 2: Level-5 driving automation is not limited by the operational design domain (except for commercial and regulatory factors) in the vehicle drivable environment.
3.4 Technical requirements for driving automation levels
3.4.1 Level-0 driving automation
Level-0 driving automation system shall:
a) have the ability to continuously perform some object and event detection and response;
b) immediately release the system control right when the driver requires the driving automation system to quit.
Note: When the lane departure suppression system works, the driver can actively control the steering wheel so that the lane departure suppression system can quit.
3.4.2 Level-1 driving automation
Level-1 driving automation system shall:
a) continuously perform lateral or longitudinal vehicle motion control in dynamic driving tasks;
b) have some object and event detection and response ability suitable for the lateral or longitudinal vehicle motion control;
c) immediately release the system control right when the driver requires the driving automation system to quit.
Contents of GB/T 40429-2021
Foreword i
1 Scope
2 Terms and definitions
3 Taxonomy of driving automation
3.1 Principle
3.2 Classification factors
3.3 Grading of driving automation
3.3.1 Level-0 driving automation
3.3.2 Level-1 driving automation
3.3.3 Level-2 driving automation
3.3.4 Level-3 driving automation
3.3.5 Level-4 driving automation
3.3.6 Level-5 driving automation
3.4 Technical requirements for driving automation levels
3.4.1 Level-0 driving automation
3.4.2 Level-1 driving automation
3.4.3 Level-2 driving automation
3.4.4 Level-3 driving automation
3.4.5 Level-4 driving automation
3.4.6 Level-5 driving automation
Annex A (Informative) Relationship between driving automation level and classification factor
Annex B (Informative) Role of user and driving automation system
