ISO/WD 23792-1

Intelligent transport systems — Motorway chauffeur systems (MCS) — Part 1: Framework and general requirements

Systèmes de transport intelligents — Systèmes de conduite automatisée sur voie à chaussée séparée (MCS) — Partie 1: Cadre et exigences générales

General Information

• Status: Published
• ICS: 03.220.20 - Road transport
• ICS: 35.240.60 - IT applications in transport
• Technical Committee: ISO/TC 204 - Intelligent transport systems
• Drafting Committee: ISO/TC 204/WG 14 - Vehicle/roadway warning and control systems
• Current Stage: 5020 - FDIS ballot initiated: 2 months. Proof sent to secretariat
• Start Date: 14-Feb-2023
• Completion Date: 14-Feb-2023

Standards Content (Sample)

FINAL
TECHNICAL ISO/DTS
DRAFT
SPECIFICATION 23792-1
ISO/TC 204
Intelligent transport systems —
Secretariat: ANSI
Motorway chauffeur systems (MCS) —
Voting begins on:
2023-02-14
Part 1:
Voting terminates on:
Framework and general requirements
2023-04-11
Systèmes de transport intelligents — Systèmes de conduite
automatisée sur voie à chaussée séparée (MCS) —
Partie 1: Cadre et exigences générales
RECIPIENTS OF THIS DRAFT ARE INVITED TO
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BEING ACCEPTABLE FOR INDUSTRIAL, TECHNO-
ISO/DTS 23792-1:2023(E)
LOGICAL, COMMERCIAL AND USER PURPOSES,
DRAFT INTERNATIONAL STANDARDS MAY ON
OCCASION HAVE TO BE CONSIDERED IN THE
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DARDS TO WHICH REFERENCE MAY BE MADE IN
NATIONAL REGULATIONS. © ISO 2023
---------------------- Page: 1 ----------------------
ISO/DTS 23792-1:2023(E)
FINAL
TECHNICAL ISO/DTS
DRAFT
SPECIFICATION 23792-1
ISO/TC 204
Intelligent transport systems —
Secretariat: ANSI
Motorway chauffeur systems (MCS) —
Voting begins on:
Part 1:
Voting terminates on:
Framework and general requirements
Systèmes de transport intelligents — Systèmes de conduite
automatisée sur voie à chaussée séparée (MCS) —
Partie 1: Cadre et exigences générales
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DRAFT INTERNATIONAL STANDARDS MAY ON
Published in Switzerland
OCCASION HAVE TO BE CONSIDERED IN THE
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DARDS TO WHICH REFERENCE MAY BE MADE IN
© ISO 2023 – All rights reserved
NATIONAL REGULATIONS. © ISO 2023
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ISO/DTS 23792-1:2023(E)
Contents Page

Foreword ..........................................................................................................................................................................................................................................v

Introduction .............................................................................................................................................................................................................................. vi

1 Scope ................................................................................................................................................................................................................................. 1

2 Normative references ..................................................................................................................................................................................... 1

3 Terms and definitions .................................................................................................................................................................................... 1

4 Abbreviated terms ............................................................................................................................................................................................. 4

5 Characteristics of MCS ................................................................................................................................................................................... 4

5.1 General ........................................................................................................................................................................................................... 4

5.2 Operational design domain ......................................................................................................................................................... 4

5.2.1 General ........................................................................................................................................................................................ 4

5.2.2 Roadway physical characteristics ...................................................................................................................... 5

5.2.3 Traffic in the surrounding environment ....................................................................................................... 6

5.2.4 Abnormalities in roadway operational condition ................................... .............................................. 6

5.2.5 Ambient environmental conditions ................................................................................................................... 6

5.3 System functionalities ..................................................................................................................................................................... 6

5.3.1 General ........................................................................................................................................................................................ 6

5.3.2 Basic functionalities to realize in-lane operation ................................................................................. 7

5.3.3 Lane changing functionalities ................................................................................................................................ 7

5.4 System limitations ............................................................................................................................................................................... 7

5.5 Providing information to the user ........................................................................................................................................ 7

6 Operational requirements ........................................................................................................................................................................ 8

6.1 Operating conditions ........................................................................................................................................................................ 8

6.1.1 General ........................................................................................................................................................................................ 8

6.1.2 Engagement conditions ................................................................................................................................................ 8

6.1.3 Disengagement triggering conditions ............................................................................................................. 8

6.1.4 Direct disengagement conditions ........................................................................................................................ 8

6.2 State transition ....................................................................................................................................................................................... 8

6.2.1 General ........................................................................................................................................................................................ 8

6.2.2 Off state ...................................................................................................................................................................................... 9

6.2.3 Standby state ...................................................................................................................................................................... 10

6.2.4 Normal state ........................................................................................................................................................................ 11

6.2.5 Requesting fallback state.........................................................................................................................................12

6.3 System functions ...............................................................................................................................................................................12

6.3.1 General .....................................................................................................................................................................................12

6.3.2 Object and event detection and response (OEDR) .............................................................................13

6.3.3 Vehicle motion control (VMC) ............................................................................................................................. 13

6.3.4 Generation of request to intervene (RTI) .................................................................................................. 14

6.3.5 Status indication .............................................................................................................................................................. 14

6.3.6 User control interface ................................................................................................................................................. 16

6.3.7 FRU input detection ...................................................................................................................................................... 16

6.3.8 MCS monitoring the FRU .......................................................................................................................................... 17

6.3.9 Subject vehicle condition monitor ................................................................................................................... 18

6.3.10 MCS condition monitor .............................................................................................................................................. 18

6.3.11 Localization.......................................................................................................................................................................... 18

6.3.12 External warning generation ............................................................................................................................... 18

6.3.13 Function required for route following functionalities .................................................................. 18

6.3.14 Related functions ............................................................................................................................................................ 18

6.4 Requirements for continuing operation after detecting disengagement-triggering

conditions ................................................................................................................................................................................................. 19

6.4.1 General ..................................................................................................................................................................................... 19

6.4.2 Classification of adverse situations ................................................................................................................ 19

6.4.3 Responses to adverse situations ....................................................................................................................... 20

iii
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ISO/DTS 23792-1:2023(E)

7 Minimum performance requirements of the DDT ........................................................................................................20

7.1 General ........................................................................................................................................................................................................ 20

7.2 Operating speed range ................................................................................................................................................................. 21

7.3 Normal operation .............................................................................................................................................................................. 21

7.3.1 Sustained longitudinal vehicle motion control .................................................................................... 21

7.3.2 Sustained lateral vehicle motion control ................................................................................................... 21

7.3.3 Crash avoidance ............................................................................................................................................................... 22

7.4 Performance-impaired operation ....................................................................................................................................... 22

7.5 MCS reaction to unresponsive FRU ................................................................................................................................... 22

8 Test procedures .................................................................................................................................................................................................23

8.1 General ........................................................................................................................................................................................................23

8.1.1 Purpose ....................................................................................................................................................................................23

8.1.2 Driving environment ................................................................................................................................................... 23

8.1.3 System settings and test driver roles ........................................................................................................... 23

8.1.4 Common test pass criteria ...................................................................................................................................... 23

8.1.5 Confirmation of the HMI design ........................................................................................................................ 23

8.1.6 Success rate and number of trials .................................................................................................................... 24

8.1.7 List of test scenarios .................................................................................................................................................... 24

8.1.8 Test sites ................................................................................................................................................................................. 24

8.2 Scenario 1: MCS reaction to unresponsive FRU ..................................................................................................... 25

8.2.1 Test scenario .......................................................................................................................................................................25

8.2.2 Pass criteria .........................................................................................................................................................................25

8.3 Scenario 2: Direct disengagement by steering input ......................................................................................... 25

8.3.1 Test scenario .......................................................................................................................................................................25

8.3.2 Pass criteria ......................................................................................................................................................................... 25

8.4 Scenario 3: Continued operation after brake intervention .......................................................................... 25

8.4.1 Test scenario .......................................................................................................................................................................25

8.4.2 Pass criteria ......................................................................................................................................................................... 26

8.5 Scenario 4: Forward vehicle braking hard ................................................................................................................. 26

8.5.1 Test scenario ....................................................................................................................................................................... 26

8.5.2 Pass criteria ......................................................................................................................................................................... 26

8.6 Scenario 5: Aggressive cut-in from the adjacent lane ....................................................................................... 26

8.6.1 Test scenario ....................................................................................................................................................................... 26

8.6.2 Pass criteria ......................................................................................................................................................................... 27

8.7 Scenario 6: Obstacle in lane ..................................................................................................................................................... 27

8.7.1 Test scenario ....................................................................................................................................................................... 27

8.7.2 Pass criteria .........................................................................................................................................................................28

8.8 Scenario 8: Approaching geographical ODD boundary ...................................................................................28

8.8.1 Test scenario .......................................................................................................................................................................28

8.8.2 Pass criteria .........................................................................................................................................................................28

8.9 Scenario 9: Engagement restricted outside ODD ..................................................................................................29

8.9.1 Test scenario .......................................................................................................................................................................29

8.9.2 Pass criteria .........................................................................................................................................................................29

Bibliography .............................................................................................................................................................................................................................30

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ISO/DTS 23792-1:2023(E)
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

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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.

The procedures used to develop this document and those intended for its further maintenance are

described in the ISO/IEC Directives, Part 1. 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 (see 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 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 (see www.iso.org/patents).

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the World Trade Organization (WTO) principles in the Technical Barriers to Trade (TBT), see

www.iso.org/iso/foreword.html.

This document was prepared by Technical Committee ISO/TC 204, Intelligent transport systems.

Any feedback or questions on this document should be directed to the user’s national standards body. A

complete listing of these bodies can be found at www.iso.org/members.html.
© ISO 2023 – All rights reserved
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ISO/DTS 23792-1:2023(E)
Introduction

An automated driving system (ADS) needs to be designed with the capability to cope with various

conditions such as the driving environment, behaviour of other vehicles in the surroundings, traffic

regulations, etc.

In addition, an ADS designed to operate on motorways can encounter various situations such as

merging into the main lane of traffic, adjusting the speed according to congested or freely flowing

traffic, overtaking other vehicles, or changing lanes when approaching an exit/lane closure.

For Level 3 automated driving, the ADS issues a request to the fallback-ready user (FRU) to take over

driving tasks when it cannot respond to certain conditions/situations.

The ISO 23782 series identifies the performance requirements for an ADS based on its capability to

respond to certain conditions and situations. The requirements are derived in order to reliably transfer

the control between the human driver and ADS, and for the safe operation by the ADS.

The ISO 23782 series focuses on the system functionalities, under the assumption that the FRU is

available and responsive to system requests to take over driving tasks.
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TECHNICAL SPECIFICATION ISO/DTS 23792-1:2023(E)
Intelligent transport systems — Motorway chauffeur
systems (MCS) —
Part 1:
Framework and general requirements
1 Scope
[1]

Motorway chauffeur systems (MCS) perform level 3 automated driving on limited access motorways

with the presence of a fallback-ready user (FRU). MCS can be implemented in various forms capable

of responding to different driving scenarios. This document describes a framework of MCS including

system characteristics, system states/transition conditions and system functions.

MCSs are equipped with a basic set of functionalities to perform in-lane operation and can also be

equipped with additional functionalities such as lane changing.

This document specifies requirements of the basic set of functionalities and test procedures to verify

these requirements. The requirements include vehicle operation to perform the entire dynamic

[1] [1]

driving task (DDT) within the current lane of travel, to issue a request to intervene (RTI) before

disengaging, and to extend operation and temporarily continue to perform the DDT after issuing an

RTI.

This document describes one specific form of system engagement. Other forms are possible. These other

system engagement forms, especially those provided in combination with other driving automation

system features, are not within the scope of this document.

Requirements and test procedures for the additional functionalities are provided in other parts of the

ISO 23782 series.

Means related to setting a destination and selecting a route to reach the destination are not within the

[2]

scope of this document. This document applies to MCS installed in light vehicles.

2 Normative references

The following documents are referred to in the text in such a way that some or all of their content

constitutes requirements of this document. For dated references, only the edition cited applies. For

undated references, the latest edition of the referenced document (including any amendments) applies.

ISO 15622:2018, Intelligent transport systems — Adaptive cruise control systems — Performance

requirements and test procedures

ISO/SAE PAS 22736, Taxonomy and definitions for terms related to driving automation systems for on-

road motor vehicles
3 Terms and definitions

For the purposes of this document, the terms and definitions given in ISO/SAE PAS 22736 and the

following apply.

ISO and IEC maintain terminology databases for use in standardization at the following addresses:

— ISO Online browsing platform: available at https:// www .iso .org/ obp
© ISO 2023 – All rights reserved
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ISO/DTS 23792-1:2023(E)
— IEC Electropedia: available at https:// www .electropedia .org/
3.1
subject vehicle
vehicle equipped with a motorway chauffeur system (MCS) feature
3.2
motorway

road specially designed and built for motorized traffic that does not serve properties bordering on it,

and which;

— is provided, except at special points or temporarily, with separate carriageways for the two

directions of traffic, separated from each other either by a dividing strip not intended for traffic or,

exceptionally, by other means;
— does not cross at level with any road, railway or tramway track, or footpath;
— is specifically sign-posted as a motorway;

— is prohibited for access from non-motorized road users, such as pedestrians and cyclists.

Note 1 to entry: Roads which satisfy the defined conditions above may be referred to using different terms in

different countries.
3.3
route
planned sequence of waypoints to reach a destination
Note 1 to entry: See Figure 1:
Key
1 route A
2 route B
3 route C
To destination.
Figure 1 — Route
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ISO/DTS 23792-1:2023(E)
3.4
path

combination of one or more neighbouring lanes in the same direction of travel along a given route

Note 1 to entry: See Figure 2:
Key
1 path A
2 path B
Figure 2 — Path
3.5
trajectory

sequence of locations that define the intended motion vector of the subject vehicle (SV) used as

references for vehicle motion control

Note 1 to entry: The motion vector includes longitudinal position and/or speed, also lateral position and/or the

vehicle’s orientation information.
Note 2 to entry: see Figure 3:
Key
Trajectory.
Figure 3 — Trajectory
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ISO/DTS 23792-1:2023(E)
3.6
vehicle motion control

activities necessary to adjust vehicle movement continuously in real time, which include “lateral vehicle

motion control” and “longitudinal vehicle motion control”

Note 1 to entry: “Lateral vehicle motion control” and “longitudinal vehicle motion control” are defined in ISO/

SAE PAS 22736.
4 Abbreviated terms
[1]
ADS Automated driving system
[1]
DDT dynamic driving task
[1]
FRU fallback-ready user
FV forward vehicle
HMI human machine interface
MCS motorway chauffeur system
[1]
MRC minimal risk condition
MRM minimal risk manoeuvre
[1]
ODD operational design domain
[1]
OEDR object and event detection and response
TTC time to collision
[1]
RTI request to intervene
SV subject vehicle
VMC vehicle motion control
5 Characteristics of MCS
5.1 General

This document covers a variety of implementations of MCS based on its operational design domain

(ODD) (see 5.2) and functionalities (see 5.3).

The ODD definition of an MCS is considered to be design-specific for its implementation. Therefore,

the requirements in this document apply to the functionalities and performance of the MCS within its

prescribed ODD.
5.2 Operational design domain
5.2.1 General

Each MCS shall have a pre-defined ODD, and the user shall be informed of the general ODD limitations

(i.e. to make clear under which conditions a given MCS is capable of operating or not).

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ISO/DTS 23792-1:2023(E)

The description of an ODD shall, at minimum, include the following information unless the item doe

...

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ISO /DTS 23792-1:20##(2023(E)
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Foreword .................................................................................................................................................................. v

Introduction ............................................................................................................................................................ vi

1 Scope ............................................................................................................................................................ 1

2 Normative references .............................................................................................................................. 1

3 Terms and definitions ............................................................................................................................. 1

4 Abbreviated terms.................................................................................................................................... 3

Abbreviated terms ................................................................................................................................................. 3

5 Characteristics of MCS ............................................................................................................................. 3

5.1 General ........................................................................................................................................................ 3

5.2 Operational design domain ................................................................................................................... 4

General ........................................................................................................................................................ 4

Roadway physical characteristics ........................................................................................................ 4

Traffic in the surrounding environment ............................................................................................ 5

Abnormalities in roadway operational condition ........................................................................... 5

Ambient environmental conditions .................................................................................................... 5

5.3 System functionalities ............................................................................................................................. 6

General ........................................................................................................................................................ 6

Basic functionalities to realize in-lane operation ........................................................................... 6

Lane changing functionalities ............................................................................................................... 6

5.4 System limitations .................................................................................................................................... 7

5.5 Providing information to the user ....................................................................................................... 7

6 Operational requirements ..................................................................................................................... 7

6.1 Operating conditions ............................................................................................................................... 7

General ........................................................................................................................................................ 7

Engagement conditions ........................................................................................................................... 7

Disengagement triggering conditions................................................................................................. 7

Direct disengagement conditions ........................................................................................................ 7

6.2 State transition .......................................................................................................................................... 8

General ........................................................................................................................................................ 8

Off state ........................................................................................................................................................ 8

Standby state .............................................................................................................................................. 9

Normal state ............................................................................................................................................. 10

Requesting fallback state ..................................................................................................................... 11

6.3 System functions ..................................................................................................................................... 12

General ...................................................................................................................................................... 12

Object and event detection and response (OEDR) ........................................................................ 12

Vehicle motion control (VMC) ............................................................................................................. 13

Generation of Request to intervene (RTI) ....................................................................................... 13

Status indication ..................................................................................................................................... 14

User control interface ............................................................................................................................ 15

FRU input detection ............................................................................................................................... 16

MCS monitoring the FRU ....................................................................................................................... 17

Subject vehicle condition monitor ..................................................................................................... 17

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MCS condition monitor.......................................................................................................................... 18

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Localization .............................................................................................................................................. 18

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External warning generation .............................................................................................................. 18

Function required for route following functionalities ................................................................. 18

Related functions .................................................................................................................................... 18

6.4 Requirements for continuing operation after detecting disengagement triggering

conditions ................................................................................................................................................. 19

General ...................................................................................................................................................... 19

Classification of adverse situations ................................................................................................... 19

Responses to adverse situations ........................................................................................................ 20

7 Minimum performance requirements of the DDT ........................................................................ 20

7.1 General ...................................................................................................................................................... 20

7.2 Operating speed range .......................................................................................................................... 21

7.3 Normal operation ................................................................................................................................... 21

Sustained longitudinal vehicle motion control .............................................................................. 21

Sustained lateral vehicle motion control ......................................................................................... 22

Crash avoidance ...................................................................................................................................... 22

7.4 Performance-impaired operation ...................................................................................................... 22

7.5 MCS reaction to unresponsive FRU .................................................................................................... 23

8 Test procedures ...................................................................................................................................... 23

8.1 General ...................................................................................................................................................... 23

Purpose...................................................................................................................................................... 23

Driving environment ............................................................................................................................. 23

System settings and test driver roles ................................................................................................ 24

Common test pass criteria .................................................................................................................... 24

Confirmation of the HMI design .......................................................................................................... 24

Success rate and number of trials ...................................................................................................... 24

List of Test Scenarios ............................................................................................................................. 24

Test sites ................................................................................................................................................... 25

8.2 Scenario 1: MCS reaction to unresponsive FRU .............................................................................. 25

Test scenario ............................................................................................................................................ 25

Pass criteria .............................................................................................................................................. 25

8.3 Scenario 2: Direct disengagement by steering input .................................................................... 26

Test scenario ............................................................................................................................................ 26

Pass criteria .............................................................................................................................................. 26

8.4 Scenario 3: Continued operation after brake intervention ........................................................ 26

Test scenario ............................................................................................................................................ 26

Pass criteria .............................................................................................................................................. 26

8.5 Scenario 4: Forward vehicle braking hard ...................................................................................... 26

Test scenario ............................................................................................................................................ 26

Pass criteria .............................................................................................................................................. 27

8.6 Scenario 5: Aggressive cut-in from the adjacent lane ................................................................... 27

Test scenario ............................................................................................................................................ 27

Pass criteria .............................................................................................................................................. 28

8.7 Scenario 6: Obstacle in lane ................................................................................................................. 28

Test scenario ............................................................................................................................................ 28

Pass criteria .............................................................................................................................................. 29

8.8 Scenario 8: Approaching geographical ODD boundary ................................................................ 30

Test scenario ............................................................................................................................................ 30

Pass criteria .............................................................................................................................................. 30

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8.9 Scenario 9: Engagement restricted outside ODD ........................................................................... 30

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Test scenario ............................................................................................................................................ 30

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Pass criteria .............................................................................................................................................. 30

Bibliography .......................................................................................................................................................... 31

Foreword .............................................................................................................................................................. viii

Introduction ............................................................................................................................................................ ix

1 Scope ............................................................................................................................................................ 1

2 Normative references .............................................................................................................................. 1

3 Terms and definitions ............................................................................................................................. 1

4 Abbreviated terms.................................................................................................................................... 5

5 Characteristics of MCS ............................................................................................................................. 6

5.1 General ........................................................................................................................................................ 6

5.2 Operational design domain ................................................................................................................... 6

5.2.1 General ........................................................................................................................................................ 6

5.2.2 Roadway physical characteristics ........................................................................................................ 8

5.2.3 Traffic in the surrounding environment ............................................................................................ 8

5.2.4 Abnormalities in roadway operational condition ........................................................................... 8

5.2.5 Ambient environmental conditions .................................................................................................... 9

5.3 System functionalities ............................................................................................................................. 9

5.3.1 General ........................................................................................................................................................ 9

5.3.2 Basic functionalities to realize in-lane operation ........................................................................... 9

5.3.3 Lane changing functionalities ............................................................................................................. 10

5.4 System limitations .................................................................................................................................. 10

5.5 Providing information to the user ..................................................................................................... 10

6 Operational requirements ................................................................................................................... 10

6.1 Operating conditions ............................................................................................................................. 10

6.1.1 General ...................................................................................................................................................... 10

6.1.2 Engagement conditions ......................................................................................................................... 11

6.1.3 Disengagement triggering conditions............................................................................................... 11

6.1.4 Direct disengagement conditions ...................................................................................................... 11

6.2 State transition ........................................................................................................................................ 11

6.2.1 General ...................................................................................................................................................... 11

6.2.2 Off state ...................................................................................................................................................... 13

6.2.3 Standby state ............................................................................................................................................ 13

6.2.4 Normal state ............................................................................................................................................. 14

6.2.5 Requesting fallback state ..................................................................................................................... 15

6.3 System functions ..................................................................................................................................... 16

6.3.1 General ...................................................................................................................................................... 16

6.3.2 Object and event detection and response (OEDR) ........................................................................ 17

6.3.3 Vehicle motion control (VMC) ............................................................................................................. 18

6.3.4 Generation of request to intervene (RTI) ........................................................................................ 18

6.3.5 Status indication ..................................................................................................................................... 19

6.3.6 User control interface ............................................................................................................................ 20

6.3.7 FRU input detection ............................................................................................................................... 21

6.3.8 MCS monitoring the FRU ....................................................................................................................... 22

6.3.9 Subject vehicle condition monitor ..................................................................................................... 22

6.3.10 MCS condition monitor.......................................................................................................................... 22

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6.3.11 Localization .............................................................................................................................................. 23

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6.3.12 External warning generation .............................................................................................................. 23

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6.3.13 Function required for route following functionalities ................................................................. 23

6.3.14 Related functions .................................................................................................................................... 23

6.4 Requirements for continuing operation after detecting disengagement-triggering

conditions ................................................................................................................................................. 23

6.4.1 General ...................................................................................................................................................... 23

6.4.2 Classification of adverse situations ................................................................................................... 24

6.4.3 Responses to adverse situations ........................................................................................................ 25

7 Minimum performance requirements of the DDT ........................................................................ 25

7.1 General ...................................................................................................................................................... 25

7.2 Operating speed range .......................................................................................................................... 26

7.3 Normal operation ................................................................................................................................... 26

7.3.1 Sustained longitudinal vehicle motion control .............................................................................. 26

7.3.2 Sustained lateral vehicle motion control ......................................................................................... 27

7.3.3 Crash avoidance ...................................................................................................................................... 27

7.4 Performance-impaired operation ...................................................................................................... 27

7.5 MCS reaction to unresponsive FRU .................................................................................................... 28

8 Test procedures ...................................................................................................................................... 28

8.1 General ...................................................................................................................................................... 28

8.1.1 Purpose...............................................................................................................................

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