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自动驾驶(J3016/PSA1883等)资料分享 分享几份自动驾驶相关(包括J3016、自动驾驶场景测试、1883等)
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__________________________________________________________________________________________________________________________________________
© 2021 SAE International/ISO
All rights reserved. Unless otherwise specified, or required in the context of its implementation, no part of this publication may be reproduced or utilized otherwise in any
form or by any means, electronic or mechanical, including photocopying, or posting on the internet or an intranet, without prior written permission. Permission can be
requested from either ISO at the address below or ISO’s member body in the country of the requester.
The SAE J3016™ standard was developed jointly under the Partnership SDO agreement between ISO and SAE. This version is technically equivalent to the current version
of ISO/SAE DPAS 22736 (www.iso.org).
SAE International ISO Copyright Office
Tel: 877-606-7323 (inside USA and Canada) CP 401 • Ch. de Blandonnet 8
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Website: http://www.sae.org Email: copyright@iso.org
Website: www.iso.org
Published in USA and Switzerland.
SURFACE VEHICLE
RECOMMENDED PRACTICE
J3016™
APR2021
Issued 2014-01
Revised 2021-04
Superseding J3016 JUN2018
(R) Taxonomy and Definitions for Terms Related to
Driving Automation Systems for On-Road Motor Vehicles
RATIONALE
This revision of SAE J3016 was undertaken in close cooperation between the SAE On-Road Automated Driving (ORAD)
Committee and ISO TC204/WG14 through a Joint Working Group formed in 2018. This collaboration brought to bear the
knowledge and expertise of global experts in driving automation technology and safety. Several new terms and definitions
have been added and multiple corrections and clarifications have been made to address frequently misunderstood concepts
and improve the utility of the document, especially for non-native English speakers. As in the previous version, it provides
a taxonomy describing the full range of levels of driving automation in on-road motor vehicles and includes functional
definitions for advanced levels of driving automation and related terms and definitions. This document does not provide
specifications, or otherwise impose requirements on, driving automation systems (for further elaboration, see 8.1).
Standardizing levels of driving automation and supporting terms serves several purposes, including:
1. Clarifying the role of the (human) driver, if any, during driving automation system engagement.
2. Answering questions of scope when it comes to developing laws, policies, regulations, and standards.
3. Providing a useful framework for driving automation specifications and technical requirements.
4. Providing clarity and stability in communications on the topic of driving automation, as well as a useful short-hand that
saves considerable time and effort.
This document has been developed according to the following guiding principles; namely, it should:
1. Be descriptive and informative rather than normative.
2. Provide functional definitions.
3. Be consistent with current industry practice.
4. Be consistent with prior art to the extent practicable.
5. Be useful across disciplines, including engineering, law, media, and public discourse.
6. Be clear and cogent and, as such, it should avoid or define ambiguous terms.
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SAE INTERNATIONAL J3016™ APR2021 Page 2 of 41
The document reflects lessons learned from various stakeholder discussions, as well as from research projects conducted
in Europe and the United States by the AdaptIVe Project and by the Crash Avoidance Metrics Partnership (CAMP)
Automated Vehicle Research (AVR) Consortium, respectively.
Italicized terms used in this document are also defined herein. Bracketed text within a term name indicates optional inclusion
when using the term (i.e., bracketed text may be unnecessary, given the usage context).
FOREWORD
ISO (the International Organization for Standardization) is a worldwide federation of national standards bodies (ISO member
bodies). The work of preparing International Standards is normally carried out through ISO technical committees. Each
member body interested in a subject for which a technical committee has been established has the right to be represented
on that committee. International organizations, governmental and non-governmental, in liaison with ISO, also take part in
the work. ISO collaborates closely with the International Electrotechnical Commission (IEC) on all matters of electrotechnical
standardization.
SAE International is a global association of more than 128000 engineers and related technical experts in the aerospace,
automotive, and commercial-vehicle industries. Standards from SAE International are used to advance mobility engineering
throughout the world. The SAE Technical Standards Development Program is among the organization's primary provisions
to those mobility industries it serves aerospace, automotive, and commercial vehicle. These works are authorized, revised,
and maintained by the volunteer efforts of more than 9000 engineers, and other qualified professionals from around the
world. SAE subject matter experts act as individuals in the standards process, not as representatives of their organizations.
Thus, SAE standards represent optimal technical content developed in a transparent, open, and collaborative process.
The procedures used to develop this document and those intended for its further maintenance are described in the ISO/IEC
Directives, Part 1 and the SAE Technical Standards Board Policy. In particular, the different approval criteria needed for the
different types of ISO documents should be noted. This document was drafted in accordance with the editorial rules of the
ISO/IEC Directives, Part 2 (refer to www.iso.org/directives
).
Attention is drawn to the possibility that some of the elements of this document may be the subject of patent rights. ISO and
SAE International shall not be held responsible for identifying any or all such patent rights. Details of any patent rights
identified during the development of the document will be in the Introduction and/or on the ISO list of patent declarations
received (refer to www.iso.org/patents
).
SAE Executive Standards Committee Rules provide that: “This document is published to advance the state of technical and
engineering sciences. The use of this document is entirely voluntary, and its applicability and suitability for any particular
use, including any patent infringement arising therefrom, is the sole responsibility of the user.”
Any trade name used in this document is information given for the convenience of users and does not constitute an
endorsement.
For an explanation of the voluntary nature of standards, the meaning of ISO specific terms and expressions related to
conformity assessment, as well as information about ISO's adherence to the World Trade Organization (WTO) principles in
the Technical Barriers to Trade (TBT), refer to www.iso.org/iso/foreword.html
.
This document was jointly prepared in the ISO/SAE Definitions Joint Working Group, with experts from ISO Technical
Committee 204 Intelligent Transport Systems, Working Group 14 Vehicle/roadway warning and control systems and SAE
On Road Automated Driving Committee, Definitions Task Force.
This standard and its counterpart document published by ISO (PAS 22736) are technically equivalent. The only
difference between the documents is the standard number and name and minor editorial elements.
This edition cancels and supersedes the SAE J3016_201806.
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SAE INTERNATIONAL J3016™ APR2021 Page 3 of 41
TABLE OF CONTENTS
1. SCOPE ....................................................................................................................................................... 4
2. REFERENCES ........................................................................................................................................... 5
2.1 Applicable Documents ............................................................................................................................... 5
2.1.1 SAE Publications ........................................................................................................................................ 5
2.1.2 ANSI Accredited Publications .................................................................................................................... 5
2.1.3 Other Publications ...................................................................................................................................... 5
2.2 List of Abbreviations ................................................................................................................................... 5
3. DEFINITIONS ............................................................................................................................................ 6
4. TAXONOMY OF DRIVING AUTOMATION ............................................................................................. 24
5. LEVELS OR CATEGORIES OF DRIVING AUTOMATION ..................................................................... 30
5.1 Level or Category 0 - No Driving Automation .......................................................................................... 30
5.2 Level or Category 1 - Driver Assistance .................................................................................................. 30
5.3 Level or Category 2 - Partial Driving Automation ..................................................................................... 31
5.4 Level or Category 3 - Conditional Driving Automation ............................................................................. 31
5.5 Level or Category 4 - High Driving Automation ....................................................................................... 31
5.6 Level or Category 5 - Full Driving Automation ......................................................................................... 32
6. SIGNIFICANCE OF OPERATIONAL DESIGN DOMAIN (ODD) ............................................................. 32
7. DEPRECATED TERMS ........................................................................................................................... 34
7.1 Autonomous, Driving Modes(s), Self-Driving, Unmanned, Robotic ......................................................... 34
7.1.1 Autonomous ............................................................................................................................................. 34
7.1.2 Driving Mode(s) ........................................................................................................................................ 35
7.1.3 Self-Driving ............................................................................................................................................... 35
7
.1.4 Unmanned ................................................................................................................................................ 35
7.1.5 Robotic ..................................................................................................................................................... 35
7.2 Automated or Autonomous Vehicle ......................................................................................................... 35
7.3 Control ...................................................................................................................................................... 35
8. ADDITIONAL DISCUSSION .................................................................................................................... 36
9. NOTES ..................................................................................................................................................... 41
Figure 1 Examples of driving automation system features/types that could be available during a given trip .......... 8
Figure 2 Schematic (not a control diagram) view of driving task showing DDT portion ......................................... 10
Figure 3 ................................................................................................................................................................. 11
Figure 4 ................................................................................................................................................................. 12
Figure 5 ................................................................................................................................................................. 12
Figure 6 ................................................................................................................................................................. 12
Figure 7 ................................................................................................................................................................. 13
Figure 8 ................................................................................................................................................................. 13
Figure 9 Diagram showing vehicle axes of motion (SAE J670) ............................................................................. 14
Figure 10 Simplified logic flow diagram for assigning driving automation level to a feature .................................... 27
Figure 11 ODD relative to driving automation levels ................................................................................................ 33
Figure 12 ODD relative to driving automation levels ................................................................................................ 34
Figure 13 Use case sequence for a Level 3 feature showing ADS engaged, occurrence of a failure or
out-of-ODD condition, and the fallback-ready user performing the fallback, or, if the fallback-ready
user fails to do so, a failure mitigation strategy, such as stop-in-lane ..................................................... 38
Figure 14 Use case sequence at Level 4 showing ADS engaged, a catastrophic event (e.g., complete power
failure) and the system achieving a minimal risk condition ...................................................................... 38
Table 1 Summary of levels of driving automation ................................................................................................. 25
Table 2 Roles of human user and driving automation system by level of driving automation .............................. 28
Table 3 User roles while a driving automation system is engaged ....................................................................... 30
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SAE INTERNATIONAL J3016™ APR2021 Page 4 of 41
1. SCOPE
This document describes [motor] vehicle driving automation systems that perform part or all of the dynamic driving task
(DDT) on a sustained basis. It provides a taxonomy with detailed definitions for six levels of driving automation, ranging
from no driving automation (Level 0) to full driving automation (Level 5), in the context of [motor] vehicles (hereafter also
referred to as “vehicle” or “vehicles”) and their operation on roadways:
Level 0: No Driving Automation
Level 1: Driver Assistance
Level 2: Partial Driving Automation
Level 3: Conditional Driving Automation
Level 4: High Driving Automation
Level 5: Full Driving Automation
These level definitions, along with additional supporting terms and definitions provided herein, can be used to describe the
full range of driving automation features equipped on [motor] vehicles in a functionally consistent and coherent manner.
“On-road” refers to publicly accessible roadways (including parking areas and private campuses that permit public access)
that collectively serve all road users, including cyclists, pedestrians, and users of vehicles with and without driving
automation features.
The levels apply to the driving automation feature(s) that are engaged in any given instance of on-road operation of an
equipped vehicle. As such, although a given vehicle may be equipped with a driving automation system that is capable of
delivering multiple driving automation features that perform at different levels, the level of driving automation exhibited in
any given instance is determined by the feature(s) that are engaged.
This document also refers to three primary actors in driving: the (human) user, the driving automation system, and other
vehicle systems and components. These other vehicle systems and components (or the vehicle in general terms) do not
include the driving automation system in this model, even though as a practical matter a driving automation system may
actually share hardware and software components with other vehicle systems, such as a processing module(s) or operating
code.
The levels of driving automation are defined by reference to the specific role played by each of the three primary actors in
performance of the DDT and/or DDT fallback. “Role” in this context refers to the expected role of a given primary actor,
based on the design of the driving automation system in question and not necessarily to the actual performance of a given
primary actor. For example, a driver who fails to monitor the roadway during engagement of a Level 1 adaptive cruise control
(ACC) system still has the role of driver, even while s/he is neglecting it.
Active safety systems, such as electronic stability control (ESC) and automatic emergency braking (AEB), and certain types
of driver assistance systems, such as lane keeping assistance (LKA), are excluded from the scope of this driving automation
taxonomy because they do not perform part or all of the DDT on a sustained basis, but rather provide momentary
intervention during potentially hazardous situations. Due to the momentary nature of the actions of active safety systems,
their intervention does not change or eliminate the role of the driver in performing part or all of the DDT, and thus are not
considered to be driving automation, even though they perform automated functions. In addition, systems that inform, alert,
or warn the driver about hazards in the driving environment are also outside the scope of this driving automation taxonomy,
as they neither automate part or all of the DDT, nor change the driver’s role in performance of the DDT (see 8.13).
It should be noted, however, that crash avoidance features, including intervention-type active safety systems, may be
included in vehicles equipped with driving automation systems at any level. For automated driving system (ADS) features
(i.e., Levels 3 to 5) that perform the complete DDT, crash mitigation and avoidance capability is part of ADS functionality
(see also 8.13).
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SAE INTERNATIONAL J3016™ APR2021 Page 5 of 41
2. REFERENCES
2.1 Applicable Documents
The following publications form a part of this specification to the extent specified herein. Unless otherwise indicated, the
latest issue of SAE publications shall apply.
2.1.1 SAE Publications
Available from SAE International, 400 Commonwealth Drive, Warrendale, PA 15096-0001, Tel: 877-606-7323 (inside USA
and Canada) or +1 724-776-4970 (outside USA), www.sae.org
.
SAE J670 Vehicle Dynamics Terminology
SAE J3063 Active Safety Systems Terms and Definitions
Shi, E., Gasser, T., Seeck, A., and Auerswald, R., “The Principles of Operation Framework: A Comprehensive Classification
Concept for Automated Driving Functions,” SAE Intl. J CAV 3(1):27-37, 2020, https://doi.org/10.4271/12-03-01-0003
.
2.1.2 ANSI Accredited Publications
Copies of these documents are available online at http://webstore.ansi.org/
.
ANSI D16.1-2007 Manual on Classification of Motor Vehicle Traffic Accidents
2.1.3 Other Publications
49 U.S.C. § 30102(a)(6) (definition of [motor] vehicle)
Crash Avoidance Metrics Partnership - Automated Vehicle Research Consortium, “Automated Vehicle Research for
Enhanced Safety - Final Report,” available at https://www.regulations.gov/document?D=NHTSA-2014-0070-0003
.
Gasser, T. et al., “Legal Consequences of an Increase in Vehicle Automation,” July 23, 2013, available at
http://bast.opus.hbz-nrw.de/volltexte/2013/723/pdf/Legal_consequences_of_an_increase_in_vehicle_automation.pdf.
Michon, J.A., 1985, “A Critical View of Driver Behavior Models: What Do We Know, What Should We Do?” In Evans, L. and
Schwing, R.C. (Eds.). Human behavior and traffic safety (pp. 485-520). New York: Plenum Press, 1985.
Smith, B.W., “Engineers and Lawyers Should Speak the Same Robot Language,” in ROBOT LAW (2015), available at
https://newlypossible.org.
2.2 List of Abbreviations
ACC Adaptive cruise control
ADAS Advanced driver assistance system
ADS Automated driving system
ADS-DV Automated driving system-dedicated vehicle
AEB Automatic emergency braking
DDT Dynamic driving task
DSRC Dedicated short range communications
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