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This document provides guidelines for the safe conduct of on-road tests of vehicles equipped with prototype conditional, high, and full (levels 3-5) automated driving systems (ADSs), as defined by SAE J3016. It does not include guidance for testing production ADSs intended for sale to the general public. The scope is further limited to testing of automated prototype vehicles on public roads. These guidelines do not address: Testing of driver assist (Level 1) or partial (Level 2) automation systems, which rely on a human driver to monitor the environment. (See SAE J3016 for Definitions of Levels of Automated Systems.) Closed-course testing. Component-level testing. The precise regime of road testing for a particular prototype will depend on the intended level of automation and the targeted capabilities of the prototype (see SAE J3016 for more information).

It is expected that Level 4 and 5 automated driving systems-dedicated vehicles (ADS-DVs) will eventually enable persons to travel at will who are otherwise unable to obtain a driver's license for a conventional vehicle, namely, persons with certain visual, cognitive, and/or physical impairments. This information report focuses on these disabilities, but also provides guidance for those with other disabilities. This report is limited to fleet operated on-demand shared mobility scenarios, as this is widely considered to be the first way people will be able to interact with ADS-DVs. To be more specific, this report does not address fixed route transit services or private vehicle ownership. Similarly, this report is focused on road-worthy vehicles; not scooters, golf carts, etc.

This SAE Information Report classifies and defines a harmonized set of safety principles intended to be considered by ADS and ADS-equipped vehicle development stakeholders. The set of safety principles herein is based on the collection and analysis of existing information from multiple entities, reflecting the content and spirit of their efforts, including: SAE ITC AVSC Best Practices CAMP Automated Vehicle Research for Enhanced Safety - Final Report RAND Report - Measuring Automated Vehicle Safety: Forging a Framework U.S. DOT: Automated Driving Systems 2.0 - A Vision for Safety Safety First for Automated Driving (SaFAD) UNECE WP29 amendment proposal UNECE/TRANS/WP.29/GRVA/2019/13 On a Formal Model of Safe and Scalable Self-Driving Cars (Intel RSS model) SAE J3018 This SAE Information Report provides guidance for the consideration and application of the safety principles for the development and deployment of ADS and ADS-equipped vehicles.

This document provides a high-level ontology and lexicon for describing on-road ADS-operated vehicle behavioral competencies and driving maneuvers that comprise routine/normal performance of the complete DDT, as defined in SAE J3016. It provides definitions of behavior, maneuver, scenario, and scene. This initial high-level lexicon and ontology are developed for ADS driving behaviors, including considerations for hierarchy of behaviors, and relationships among maneuvers, operational design domain (ODD) elements, and object and event detection and response (OEDR). Considerations for describing scenarios using this lexicon and ontology are discussed. This document describes ADS-operated vehicle motion control maneuvers during routine/normal operation. Maneuvers of other road users are not evaluated. This document assumes left-hand drive vehicles and road infrastructure.

This document provides safety-relevant guidance for on-road testing of vehicles being operated by prototype conditional, high, and full (Levels 3 to 5) ADS, as defined by SAE J3016. It does not include guidance for evaluating the performance of post-production ADS-equipped vehicles. Moreover, this guidance only addresses testing of ADS-operated vehicles as overseen by in-vehicle fallback test drivers (IFTD). These guidelines do not address: Remote driving, including remote fallback test driving of prototype ADS-operated test vehicles in driverless operation. (Note: The term “remote fallback test driver” is included as a defined term herein and is intended to be addressed in a future iteration of this document. However, at this time, too little is published or known about this type of testing to provide even preliminary guidance.)

This document provides preliminary1 safety-relevant guidance for in-vehicle fallback test driver training and for on-road testing of vehicles being operated by prototype conditional, high, and full (Levels 3 to 5) ADS, as defined by SAE J3016. It does not include guidance for evaluating the performance of post-production ADS-equipped vehicles. Moreover, this guidance only addresses testing of ADS-operated vehicles as overseen by in-vehicle fallback test drivers (IFTD). These guidelines do not address: Remote driving, including remote fallback test driving of prototype ADS-operated test vehicles in driverless operation. (Note: The term “remote fallback test driver” is included as a defined term herein and is intended to be addressed in a future iteration of this document. However, at this time, too little is published or known about this type of testing to provide even preliminary guidance.)

This document provides guidelines for the safe conduct of on-road tests of vehicles equipped with prototype conditional, high, and full (levels 3-5) automated driving systems (ADSs), as defined by SAE J3016. It does not include guidance for testing production ADSs intended for sale to the general public. The scope is further limited to testing of automated prototype vehicles on public roads. These guidelines do not address: Testing of driver assist (Level 1) or partial (Level 2) automation systems, which rely on a human driver to monitor the environment. (See SAE J3016 for Definitions of Levels of Automated Systems.) Closed-course testing. Component-level testing. The precise regime of road testing for a particular prototype will depend on the intended level of automation and the targeted capabilities of the prototype (see SAE J3016 for more information).

This SAE Recommended Practice describes motor vehicle driving automation systems that perform part or all of the dynamic driving task (DDT) on a sustained basis. It provides a taxonomy with detailed definitions for six levels of driving automation, ranging from no driving automation (level 0) to full driving automation (level 5), in the context of motor vehicles (hereafter also referred to as “vehicle” or “vehicles”) and their operation on roadways. These level definitions, along with additional supporting terms and definitions provided herein, can be used to describe the full range of driving automation features equipped on motor vehicles in a functionally consistent and coherent manner.

This Recommended Practice provides a taxonomy for motor vehicle driving automation systems that perform part or all of the dynamic driving task (DDT) on a sustained basis and that range in level from no driving automation (level 0) to full driving automation (level 5). It provides detailed definitions for these six levels of driving automation in the context of motor vehicles (hereafter also referred to as “vehicle” or “vehicles”) and their operation on roadways. These level definitions, along with additional supporting terms and definitions provided herein, can be used to describe the full range of driving automation features equipped on motor vehicles in a functionally consistent and coherent manner.