ISO 23793-1:2024

Intelligent transport systems — Minimal risk manoeuvre (MRM) for automated driving — Part 1: Framework, straight-stop and in-lane stop

ISO 23793-1:2024

Name:ISO 23793-1:2024   Standard name:Intelligent transport systems — Minimal risk manoeuvre (MRM) for automated driving — Part 1: Framework, straight-stop and in-lane stop
Standard number:ISO 23793-1:2024   language:English language
Release Date:21-Jul-2024   technical committee:ISO/TC 204 - Intelligent transport systems
Drafting committee:ISO/TC 204 - Intelligent transport systems   ICS number:03.220.20 - Road transport

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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Published in Switzerland
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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