ISO 23793-1:2024
(Main)Intelligent transport systems — Minimal risk manoeuvre (MRM) for automated driving — Part 1: Framework, straight-stop and in-lane stop
Intelligent transport systems — Minimal risk manoeuvre (MRM) for automated driving — Part 1: Framework, straight-stop and in-lane stop
This document addresses the minimum requirements for minimal risk manoeuvres (MRM), which are the response of an ADS to perform automated fallback to reach a minimal risk condition (MRC). This document specifies the classification framework for MRMs. The classification framework establishes the concept of MRM operation, classification of different MRM types, and basic principles of the decision-making process to decide which MRM type can be performed based on the situation. This document also specifies the minimum requirements of the control strategy and test procedures for the two simplest types of MRM: straight stop for type 1 and in-lane stop for type 2. The scope of the MRM described in this document covers minimum requirements for ADS performance during MRM action, from initiation to termination, aimed at achieving an MRC. MRM action-specific safety requirements for robust system design, such as those specified in ISO 26262 and ISO 21448, are not within the scope of this document. The MRM described in this document are intended to be used on light-duty vehicles equipped with Level 3-5 ADS. The scope does not include methods for detecting ADS failures and the decision-making process to initiate an MRM. This is because there are numerous cases that can initiate MRMs, and there is no general agreement on classification of those cases in the industry.
Systèmes de transport intelligents — Manœuvre à risque minimal pour la conduite automatisée (MRM) — Partie 1: Cadre général, arrêt en ligne droite et arrêt dans la voie
General Information
Standards Content (Sample)
International
Standard
ISO 23793-1
First edition
Intelligent transport systems —
2024-07
Minimal risk manoeuvre (MRM) for
automated driving —
Part 1:
Framework, straight-stop and in-
lane stop
Systèmes de transport intelligents — Manœuvre à risque minimal
pour la conduite automatisée (MRM) —
Partie 1: Cadre général, arrêt en ligne droite et arrêt dans la voie
Reference number
© ISO 2024
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ii
Contents Page
Foreword .v
Introduction .vi
1 Scope . 1
2 Normative references . 1
3 Terms and definitions . 1
4 Abbreviated terms . 3
5 Function framework . 3
5.1 MRM description .3
5.2 State diagram .3
5.2.1 General .3
5.2.2 ADS active (1) .4
5.2.3 Minimal risk condition (4) .5
5.2.4 Sustained standstill management (5) .5
5.2.5 Manual driving (6) .5
5.3 Functionality .5
5.4 Classification .6
5.4.1 Overview .6
5.4.2 Traffic lane stop.6
5.4.3 Road shoulder stop .7
5.4.4 MRM type change .7
6 Requirements . 9
6.1 General requirements .9
6.1.1 Overview .9
6.1.2 Vehicle and ADS status monitoring .9
6.1.3 MRM triggering conditions .9
6.1.4 Decision-making for MRM types .9
6.1.5 Operational speed of an MRM .9
6.1.6 Implementation of an MRM .9
6.1.7 Human user takeover of the DDT during an MRM .10
6.1.8 Deceleration control .10
6.1.9 Standstill management .10
6.1.10 Resumption of operation after an MRC .10
6.1.11 Collision mitigation and avoidance function .10
6.1.12 Failure mitigation strategy .10
6.1.13 Internal/external status information .10
6.2 Straight stop requirements .11
6.2.1 Operational speed .11
6.2.2 Detection capability .11
6.2.3 Acceleration control .11
6.2.4 Lateral control .11
6.2.5 MRC location .11
6.3 In-lane stop requirements .11
6.3.1 Operational speed .11
6.3.2 Detection capability .11
6.3.3 Acceleration control .11
6.3.4 Lateral control .11
6.3.5 MRC location . 12
7 Performance evaluation test methods .12
7.1 General . 12
7.2 Test conditions . 12
7.2.1 General . 12
7.2.2 Environmental and test course conditions . 12
iii
7.2.3 Test vehicle conditions . 12
7.3 Test requirements. 12
7.3.1 Safety requirements . 12
7.3.2 Test case development . 13
7.4 Basic MRM function test . 13
7.4.1 Test procedure. 13
7.4.2 Test confirmation . 13
7.5 Human user takeover test .14
7.5.1 Test procedure.14
7.5.2 Test confirmation .14
Bibliography .15
iv
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.
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 document should be noted. This documen
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