International ISO 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 Systemes de transport intelligents - Manceuvre a risque minimal pour la conduite automatisée (MRM) - Partie 1: Cadre général, arret en ligne droite et arrét dans la voie Reference number ISO 23793-1:2024(en) @ ISO 2024 IS0 23793-1:2024(en) COPYRIGHT PROTECTED DOCUMENT @ IS0 2024 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. ISO copyright office CP 40i : Ch. de Blandonnet 8 CH-1214 Vernier, Geneva Phone: +41 22 749 01 11 Email: [email protected] Website: www.iso.org Published in Switzerland @ IS0 2024 - All rights reserved ii IS0 23793-1:2024(en) Contents Page Foreword. .V Introduction ..vi 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. 5.2.2 ADS active (1) .4 5.2.3 Minimal risk condition (4) Sustained standstill management (5) 5.2.4 .5 Manual driving (6). ..5 5.2.5 5.3 Functionality ..5 5.4 Classification ..6 5.4.1 Overview. 5.4.2 .6 Traffic lane stop 5.4.3 Road shoulder stop 5.4.4 MRM type change .7 Requirements 9 6 6.1 General requirements 6.1.1 Overview .9 Vehicle and ADS status monitoring 6.1.2 .9 MRM triggering conditions. ..9 6.1.3 6.1.4 Decision-making for MRM types .9 6.1.5 Operational speed of an MRM. 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 Collision mitigation and avoidance function. 6.1.11 .10 Failure mitigation strategy.. 6.1.12 ..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 ..11 6.2.3 Acceleration control 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 MRC location 6.3.5 12 Performance evaluation test methods .12 7 7.1 ..12 General. 7.2 Test conditions. 12 7.2.1 General ..12 7.2.2 Environmental and test course conditions. 12 @ IS0 2024 - All rights reserved iii IS0 23793-1:2024(en) 7.2.3 Test vehicle conditions 12 7.3 Test requirements. 12 Safety requirements. 12 7.3.1 7.3.2 Test case development. 13 7.4 Basic MRM function test. 13 7.4.1 Test procedure. .13 13 7.4.2 Test confirmation 7.5 Human user takeover test. .14 7.5.1 Test procedure. .14 ..14 7.5.2 Test confirmation Bibliography .15 @ IS0 2024 - All rights reserved iv IS0 23793-1:2024(en) Foreword ISo (the International Organization for Standardization) is a worldwide federation of national standards 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 document was drafted in accordance with the editorial rules