Motivation safety benefit if the drivers steering input would miss an obstacle cause a collision Such a function is in the market homologated as CSF UNR7901 Introduction of provisions for ESF for R7903 currently prohibits the approval ID: 1047276
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1. Proposal to integrate Low Vehicle Speed ESF into R79Motivation = safety benefit if the driver’s steering input would miss an obstacle / cause a collision
2. Such a function is in the market, homologated as CSF (UN-R79/01)Introduction of provisions for “ESF” for R79/03 currently prohibits the approvalProposal of GRVA-07/24 would allow the continuation of approvals for such a technologyFunction behaviour, common driving situations and sensors view of the vehicle: a risk of collision is detected to the red marked corner, similar obstacles like curb stones or static pedestrians; find here an animated film starting at 2:20 to 2:53:https://www.audi-mediacenter.com/de/audimediatv/video/audi-a7-animation-park-garagenpilot-und-manoevrierassistent-4316
3. Controllability ensured by limiting the dynamic behaviour of the function by an adequate level of 2 m/s; measured values show up to 1.2 m/s.A study with 60 persons was done in a more general way for a similar function,most persons have rated the steering input as controllable and not excessive. More than 10 drivers tested the function in a slightly different form. Everyone came to the conclusion: Such a function and the resulting lateral offset are easy to control, since oversteering is comfortable and the dynamic lateral behavior of the vehicle is subjectively pleasant for the driver.Limit values for the oversteering hand force and for the additional steering torque were part of the tests and more than 10 drivers rate it as easy to control.The steering system ensures a safe oversteer on an adequate low steering force level.
4. Background: such a function is not addressed and can not be homologated according to R79/02 or /035.1.6.2.3. An automatic avoidance manoeuvre initiated by an ESF shall not lead the vehicle to leave the road if applicable for the specified use case according to par. 5.1.6.2.10. 5.1.6.2.3.2. In the absence of a lane marking on one or on both side(s) of the vehicle, a single ESF intervention is permitted, provided that it does not produce a lateral offset of the vehicle greater than 0.75 m in a direction where the lane marking is absent. The lateral offset during the automatic avoidance manoeuvre shall be determined using a fixed point on the front of the vehicle at the start and at the conclusion of the ESF intervention. The lateral offset of 0.75 m may be exceeded by a system intervention if the vehicle speed during the whole intervention is below 20 km/h and the lateral offset rate generated by the system is limited to 2 m/s, calculated as an average for a time period of 1 s.The text highlighted in red questions whether such a function would be allowed to operate.The text in black bold is a proposal to solve this issue.
5. After one second (1 s) of steering input of Manoeuvring Assistant MA at 6km/h: the offset generated by one vehicles taken as an example makes 1,18 m. It is then reasonable to take a safety margin when choosing a limit for the regulatory text, to cover other vehicles and other speeds.Justification lateral offset rate 2 m/s
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