Standards Collection

The ARCADE standardisation team aims in compiling a list of CAD related standards. The first logical step in this process is to bring global automated vehicle standards from different bodies involved worldwide into a fully harmonised group. This harmonisation effort will also assist in following and revising the status of the published or draft standards. The lists below will be updated on a quarterly basis and will include published and under development standards respectively.

Published Standards

Standard NumberTitlePublished dateDomain
ISO 22737:2021 Intelligent transport systems — Low-speed automated driving (LSAD) systems for predefined routes — Performance requirements, system requirements and performance test proceduresJuly 2021AD/ADAS functions
ISO 21202:2020Intelligent transport systems — Partially automated lane change systems (PALS) — Functional / operational requirements and test proceduresApril 2020AD/ADAS functions
ISO 21717:2018Intelligent transport systems — Partially Automated In-Lane Driving Systems (PADS) — Performance requirements and test proceduresSeptember 2018AD/ADAS functions
ISO 16787:2017Intelligent transport systems — Assisted Parking System (APS) — Performance requirements and test procedureDecember 2017AD/ADAS functions
ISO 20035ITS – Cooperative adaptive cruise control systemsJanuary 2019AD/ADAS functions
ISO 19638ITS – Road boundary departure prevention systemsSeptember 2018AD/ADAS functions
SAE J3045Truck & bus lane departure warning systems test procedureSeptember 2018AD/ADAS functions
ETSI TS 101 539Intersection collision risk warningJune 2018AD/ADAS functions
PAS 1880:2020Guidelines for developing and assessing control systems for automated vehiclesFebruary 2020AD/ADAS functions
J3171_201911Identifying Automated Driving Systems-Dedicated Vehicles (ADS-DVs) Passenger Issues for Persons with DisabilitiesNovember 2019AD/ADAS functions
ISO 19237:2017Intelligent transport systems — Pedestrian detection and collision mitigation systems (PDCMS) — Performance requirements and testDecember 2017AD/ADAS functions
ISO 22078:2020Intelligent transport systems — Bicyclist detection and collision mitigation systems (BDCMS) — Performance requirements and test proceduresFebruary 2020AD/ADAS functions
ISO 15622:2018Intelligent transport systems — Adaptive cruise control systems — Performance requirements and test proceduresSeptember 2018AD/ADAS functions
ISO 20900:2019Intelligent transport systems — Partially automated parking systems (PAPS) — Performance requirements and test proceduresMay 2019AD/ADAS functions
ISO 11067:2015
Intelligent transport systems — Curve speed warning systems (CSWS) — Performance requirements and test proceduresJuly 2015AD/ADAS functions
ISO 11270:2014Intelligent transport systems — Lane keeping assistance systems (LKAS) — Performance requirements and test proceduresMay 2014AD/ADAS functions
ISO 15623:2013Intelligent transport systems — Forward vehicle collision warning systems — Performance requirements and test proceduresJuly 2013AD/ADAS functions
ISO 17361:2017Intelligent transport systems — Lane departure warning systems — Performance requirements and test proceduresJune 2017AD/ADAS functions
ISO 17386:2010Transport information and control systems — Manoeuvring Aids for Low Speed Operation (MALSO) — Performance requirements and test proceduresMarch 2010AD/ADAS functions
ISO 17387:2008Intelligent transport systems — Lane change decision aid systems (LCDAS) — Performance requirements and test proceduresMay 2008AD/ADAS functions
ISO 22839:2013Intelligent transport systems — Forward vehicle collision mitigation systems — Operation, performance, and verification requirementsJune 2013AD/ADAS functions
ISO 22840:2010Intelligent transport systems — Devices to aid reverse manoeuvres — Extended-range backing aid systems (ERBA)April 2010AD/ADAS functions
ISO 26684:2015Intelligent transport systems (ITS) — Cooperative intersection signal information and violation warning systems (CIWS) — Performance requirements and test proceduresMay 2015AD/ADAS functions
SAE J3114Human Factors Definitions for Automated Driving and Related Research TopicsDecember 2016AD/ADAS functions
AUTOSARAUTomotive Open System ArchitectureNovember 2020AD/ADAS functions
ETSI GS MEC 013 V2.1.1Multi-access Edge Computing (MEC);  Location API September 2019Connectivity
ETSI GS MEC 030 V2.1.1Multi-access Edge Computing (MEC); V2X Information Service API April 2020Connectivity
ETSI TR 102 638 V1.1.1Intelligent Transport Systems (ITS); Vehicular Communications; Basic Set of Applications;
Definitions
June 2009Connectivity
ETSI TR 103 300-1 V2.2.1 Intelligent Transport Systems (ITS); Vulnerable Road Users (VRU) awareness;  Part 1: Use Cases definition; Release 2April 2021Connectivity
ETSI TS 103 300-2 V2.2.1     Intelligent Transport Systems (ITS); Vulnerable Road Users (VRU) awareness;  Part 2: Functional Architecture and Requirements definition;  Release 2 April 2021Connectivity
ETSI TS 103 300-3 V2.1.2
Intelligent Transport Systems (ITS); Vulnerable Road Users (VRU) awareness;  Part 3: Specification of VRU awareness basic service; Release 2April 2021Connectivity
NEMA TS 10-2020Connected vehicle infrastructure-roadside equipmentMarch 2020Connectivity
CEN ISO/TS 19468Intelligent transport systems – Data interfaces between centers for transport information and control systemOctober 2019Connectivity
IEEE 1609.12IEEE standard for wireless access in vehicular environments (WAVE) – IdentifiersSeptember 2019Connectivity
CEN ISO/TS 19091Intelligent transport systems – Cooperative ITS – Using V2I and I2V communications for application related to signalized intersectionsJuly 2019Connectivity
IEEE 1609.2bIEEE standard for wireless access to vehicular environmentJuly 2019Connectivity
CEN/TR 17297-1Intelligent transport systems – Location referencing harmonization for urban ITS – Part 1: State of the art and guidelinesMay 2019Connectivity
ISO 20078-3Road vehicles – Extended vehicle (ExVe) web services – Part 3: SecurityMay 2019Connectivity
ISO 20080Road vehicles – Information for remote diagnostic supportMarch 2019Connectivity
ISO 20078-2Road vehicles – Extended vehicle (ExVe) web services – Part 2: AccessFebruary 2019Connectivity
ISO 20078-1Road vehicles – Extended vehicle (ExVe) web services – Part 1: ContentFebruary 2019Connectivity
SAE J2945/2DSRC performance requirements for V2V safety awarenessOctober 2018Connectivity
ETSI TS 138 5225G; NR; User equipment conformance specificationOctober 2018Connectivity
ETSI TS 102 965Intelligent transport systems; application object identifierJuly 2018Connectivity
ETSI TR 121 914Digital cellular telecommunications system (Phase 2+) (GSM); Universal Mobile Telecommunications System (UMTS); LTE; 5G; Release description; Release 14June 2018Connectivity
ETSI TS 124 386LTE; User equipment to V2X control functionJune 2018Connectivity
ISO 20077-1: 2017Road Vehicles — Extended vehicle (ExVe) methodology — Part 1: General informationDecember 2017Connectivity
SAE J2945Dedicated Short Range Communication (DSRC) Systems Engineering Process Guidance for SAE J2945/X Documents and Common Design ConceptsDecember 2017Connectivity
ISO 20077-2Road Vehicles — Extended vehicle (ExVe) methodology — Part 2: Methodology for designing the extended vehicleDecember 2017Connectivity
ETSI TS 122 185LTE; Service requirements for V2X servicesMarch 2017Connectivity
ETSI EN 302 571 v2.1.1Intelligent Transport Systems (ITS); Radio communications equipment operating in the 5 855 MHz to 5 925 MHz frequency bandFebruary 2017Connectivity
J3067_202010Candidate Improvements to Dedicated Short Range Communications (DSRC) Message Set Dictionary [SAE J2735] Using Systems Engineering Methods(STABILIZED Oct 2020)October 2020Connectivity
J2735ASN_202007V2X Communications Message Set Dictionary™ ASN fileMarch 2016Connectivity
J2735SET_202007V2X Communications Message Set Dictionary™ SetMarch 2016Connectivity
J2735_202007V2X Communications Message Set Dictionary™ December 2006Connectivity
J2945/1A_202007Vehicle Level Validation Test Procedures for V2V Safety Communications July 2020Connectivity
J2945/2A_201907Dedicated Short Range Communications (DSRC) Performance Requirements for V2V Safety Awareness™ ASN FileJuly 2019Connectivity
ETSI GR IP6 030IPv6-based Vehicular Networking (V2X)October 2020Connectivity
ETSI TR 103 496 Intelligent Transport Systems (ITS);
Cooperative ITS (C-ITS) support for transport pollution
management applications;
Use cases and standardization study
October 2020Connectivity
 ETSI EN 302 890-2Intelligent Transport Systems (ITS);
Facilities Layer function;
Part 2: Position and Time management (PoTi);
Release 2 
August 2020Connectivity
ETSI TS 122 185LTE;
Service requirements for V2X services
August 2020Connectivity
ISO-20078-1: 2019Road vehicles — Extended vehicle (ExVe) web services — Part 1: ContentFebruary 2019Connectivity
ISO-20078-2: 2019Road vehicles — Extended vehicle (ExVe) web services — Part 2: AccessFebruary 2019Connectivity
ISO/PRF 21217:2020Intelligent transport systems — Station and communication architectureDecember 2020Connectivity
ISO-20078-3: 2019Road vehicles — Extended vehicle (ExVe) web services —Part 3: SecurityMay 2019Connectivity
ISO-20078-4: 2019Road vehicles — Extended vehicle (ExVe) web services — Part 4: ControlApril 2019Connectivity
ISO 23132:2020Road vehicles — Extended Vehicle (ExVe) time critical applications — General requirements, definitions and classification methodology of time-constrained situations related to Road and ExVe Safety (RExVeS)July 2020Connectivity
ETSI TR 138 900Study on channel model for frequency spectrum above 6 GHzJuly 2018Connectivity
ETSI TR 138 185Security aspect for LTE support of Vehicle-to-Everything (V2X)
services 
August 2020Connectivity
ETSI TR 121 914Digital cellular telecommunications system (Phase 2+) (GSM);
Universal Mobile Telecommunications System (UMTS); LTE; 5G; 
October 2018Connectivity
ETSI EN 302 895Intelligent Transport Systems (ITS); Vehicular Communications; Basic Set of Applications; Local Dynamic Map (LDM)September 2014Connectivity
ETSI EN 302 686Intelligent Transport Systems (ITS); Radiocommunications equipment operating in the 63 GHz to 64 GHz frequency band; Harmonized EN covering the essential requirements of article 3.2 of the R&TTE DirectiveFebruary 2011Connectivity
 ETSI EN 302 663 Intelligent Transport Systems (ITS);
ITS-G5 Access layer specification for Intelligent Transport
Systems operating in the 5 GHz frequency band 
May 2019Connectivity
EN 302 571Radiocommunications equipment operating in the 5 855 MHz to 5 925 MHz frequency band;February 2017Connectivity
ETSI EN 302 637-2 V1.4.1Intelligent Transport Systems (ITS); Vehicular Communications; Basic Set of Applications; Part 2: Specification of Cooperative Awareness Basic ServiceJanuary 2019Connectivity
ETSI EN 302 637-3 V1.3.1 Intelligent Transport Systems (ITS); Vehicular Communications; Basic Set of Applications; Part 3: Specifications of Decentralized Environmental Notification Basic ServiceApril 2019Connectivity
ETSI TS 102 894-2 V1.3.1Intelligent Transport Systems (ITS); Users and applications requirements; Part 2: Applications and facilities layer common data dictionaryAugust 2018Connectivity
ETSI EN 302 665  V1.1.1Intelligent Transport Systems (ITS); Communications ArchitectureSeptember 2010Connectivity
ETSI TS 102 792 V1.2.1Intelligent Transport Systems (ITS); Mitigation techniques to avoid interference between European CEN Dedicated Short Range Communication (CEN DSRC) equipment and Intelligent Transport Systems (ITS) operating in the 5 GHz frequency rangeJune 2015Connectivity
ETSI TS 103 301 V1.3.1Intelligent Transport Systems (ITS); Vehicular Communications;
Basic Set of Applications; Facilities layer protocols and communication requirements for infrastructure services 
February 2020Connectivity
ISO/TS 19321:2020Intelligent transport systems — Cooperative ITS — Dictionary of in-vehicle information (IVI) data structuresSeptember 2020Connectivity
ETSI EN 302 636-5-1 V2.2.1Intelligent Transport Systems (ITS); Vehicular Communications; GeoNetworking; Part 5: Transport Protocols; Sub-part 1: Basic Transport ProtocolMay 2019Connectivity
ETSI EN 302 636-4-1 V1.4.1Intelligent Transport Systems (ITS); Vehicular Communications; GeoNetworking; Part 4: Geographical addressing and forwarding for point-to-point and point-to-multipoint communications; Sub-part 1: Media-Independent FunctionalityNovember 2019Connectivity
IEEE 1609.4IEEE Standard for Wireless Access in Vehicular Environments (WAVE) — Multi-Channel OperationJanuary 2016Connectivity
IEEE 1609.3IEEE Standard for Wireless Access in Vehicular Environments (WAVE) — Networking ServicesJanuary 2016Connectivity
ETSI EN 303 613Intelligent Transport Systems (ITS);
LTE-V2X Access layer specification for Intelligent Transport
Systems operating in the 5 GHz frequency band 
January 2020Connectivity
ISO 17515-3:2019Intelligent transport systems — Evolved-universal terrestrial radio access network — Part 3: LTE-V2XAugust 2019Connectivity

ISO 17427-1:2018
Intelligent transport systems — Cooperative ITS — Part 1: Roles and responsibilities in the context of co-operative ITS architecture(s)June 2018Connectivity
ISO 17419:2018Intelligent transport systems — Cooperative systems — Globally unique identificationMay 2018Connectivity
ISO 17423:2018Intelligent transport systems — Cooperative systems — Application requirements and objectivesMay 2018Connectivity
ISO 24102 (part 1-6)Intelligent transport systems — Communications access for land mobiles (CALM) — ITS station managementJanuary 2018Connectivity
ISO/TS 17429:2017Intelligent transport systems — Cooperative ITS — ITS station facilities for the transfer of information between ITS stationsMarch 2017Connectivity
ISO/TR 13185-1:2012 Intelligent transport systems — Vehicle interface for provisioning and support of ITS services — Part 1: General information and use case definitionMay 2012Connectivity
ISO 13185-2:2015 Intelligent transport systems — Vehicle interface for provisioning and support of ITS services — Part 2: Unified gateway protocol (UGP) requirements and specification for vehicle ITS station gateway (V-ITS-SG) interfaceApril 2015Connectivity
ISO 13185-3:2018 Intelligent transport systems — Vehicle interface for provisioning and support of ITS Services — Part 3: Unified vehicle interface protocol (UVIP) server and client API specificationJune 2018Connectivity
ISO 13185-4:2020Intelligent transport systems — Vehicle interface for provisioning and support of ITS Services — Part 4: Unified vehicle interface protocol (UVIP) conformance test specificationMay 2020Connectivity
ISO 14813-1:2015Intelligent transport systems — Reference model architecture(s) for the ITS sector — Part 1: ITS service domains, service groups and servicesOctober 2015Connectivity
ISO 14813-5:2020
Intelligent transport systems — Reference model architecture(s) for the ITS sector — Part 5: Requirements for architecture description in ITS standardsJanuary 2020Connectivity
ISO 14813-6:2017Intelligent transport systems — Reference model architecture(s) for the ITS sector — Part 6: Use of ASN.1November 2017Connectivity
ISO/TR 21959-1:2020Road vehicles — Human performance and state in the context of automated driving — Part 1: Common underlying conceptsJanuary 2020Human Interaction
ISO/TR 21959-2:2020Road vehicles — Human performance and state in the context of automated driving — Part 2: Considerations in designing experiments to investigate transition processesFebruary 2020Human Interaction
ISO/TR 23049:2018Road Vehicles — Ergonomic aspects of external visual communication from automated vehicles to other road usersSeptember 2018Human Interaction
ISO 15007:2020Road vehicles — Measurement and analysis of driver visual behaviour with respect to transport information and control systemsAugust 2020Human Interaction
ISO/DIS 23150Road vehicles — Data communication between sensors and data fusion unit for automated driving functions — Logical interfaceMay 2021In-Vehicle Systems, Networks, Data and Interface Definition
SAE J3134Automated driving system marking lightsMay 2019In-Vehicle Systems, Networks, Data and Interface Definition
SAE J3197Automated Driving System Data LoggerApril 2020In-Vehicle Systems, Networks, Data and Interface Definition
ISO 21111 -1-10Road vehicles — In-vehicle Ethernet — Part 1  – 10October 2020In-Vehicle Systems, Networks, Data and Interface Definition
ISO/TR 20545:2017Intelligent transport systems — Vehicle/roadway warning and control systems — Report on standardisation for vehicle automated driving systems (RoVAS)/Beyond driver assistance systemsJuly 2017Management/ Engineering Standards  
CEN/TS 17400:2020Intelligent transportation systems – Urban ITS – Mixed vendor environments, methodologies & translatorsApril 2020Management/ Engineering Standards  
ISO 20524-2:2020Intelligent transport systems — Geographic Data Files (GDF) GDF5.1 — Part 2: Map data used in automated driving systems, Cooperative ITS, and multi-modal transportNovember 2020Map and positioning
EN 16803-1Space – Use of GNSS-based positioning for road Intelligent Transport Systems (ITS) – Part 1: Definitions and system engineering procedures for the establishment and assessment of performancesOctober 2016Map and positioning
ETSI TS 103 246-1Satellite Earth Stations and Systems (SES);
GNSS based location systems;
Part 1: Functional requirements 
October 2020Map and positioning
ISO 14296:2016Intelligent transport systems — Extension of map database specifications for applications of cooperative ISTFebruary 2016Map and positioning
ISO 14825:2011Intelligent transport systems — Geographic Data Files (GDF) — GDF5.0July 2011Map and positioning
ISO 18750:2018Intelligent transport systems — Co-operative ITS — Local dynamic mapMay 2018Map and positioning
ISO 17572-1:2015Intelligent transport systems (ITS) — Location referencing for geographic databases — Part 1: General requirements and conceptual modelJanuary 2015Map and positioning
ISO 17572-2:2018Intelligent transport systems (ITS) — Location referencing for geographic databases — Part 2: Pre-coded location references (pre-coded profile)September 2018Map and positioning
ISO 17572-3:2015Intelligent transport systems (ITS) — Location referencing for geographic databases — Part 3: Dynamic location references (dynamic profile)January 2015Map and positioning
ISO 17572-4:2020Intelligent transport systems (ITS) — Location referencing for geographic databases — Part 4: Precise relative location references (precise relative profile)April 2020Map and positioning
ISO/SAE DIS 21434:2021Road vehicles – Cybersecurity engineeringAugust 2021Privacy & Security  
ISO/TS 21177:2019Intelligent transport systems — ITS station security services for secure session establishment and authentication between trusted devicesAugust 2019Privacy & Security  
CEN ISO/TS 21177Intelligent transport systems – ITS station security services for secure session establishment and authentication between trusted devicesOctober 2019Privacy & Security  
BSI PAS 1885 Fundamental principles of automotive cyber securityDecember 2018Privacy & Security  
BSI PAS 11281 Connected automotive ecosystems. Impact of security on safety. Code of practice.December 2018Privacy & Security  
SAE J3061Cybersecurity guidebook for Cyber-Physical vehicle SystemsJanuary 2016Privacy & Security  
ETSI TR 103 460Intelligent Transport Systems (ITS);
Security; Pre-standardization study on Misbehaviour Detection;
Release 2 
October 2020Privacy & Security  
ETSI TS 103 097 V1.4.1Intelligent Transport Systems (ITS); Security; Security header and certificate formatsOctober 2020Privacy & Security  
AVSC00007202107AVSC Information Report for Adapting a Safety Management System (SMS) for Automated Driving System (ADS) SAE Level 4 and 5 Testing and EvaluationJuly 2021Safety 
ISO/CD TR 4804:2020Road vehicles — Safety and cybersecurity for automated driving systems — Design, verification and validation methodsDecember 2020Safety 
UL 4600A safety standard governing self-driving carsApril 2020Safety 
ISO/PAS 21448Road vehicles – Safety of the intended functionalityJanuary 2019Safety 
ISO 26262-11Road vehicles – Functional safety – Part 11: Guidelines on application of ISO 26262 to semiconductorsDecember 2018Safety 
ISO 26262-10Road vehicles – Functional safety – Part 10: Guidelines on ISO 26262December 2018Safety 
ISO 26262-9Road vehicles – Functional safety – Part 9: Automotive safety integrity level (ASIL) – oriented and safety-oriented analysesDecember 2018Safety 
ISO 26262-7Road vehicles – Functional safety – Part 7: Production, operation, service and decommissioningDecember 2018Safety 
ISO 26262-6Road vehicles – Functional safety – Part 6: Product development at the software levelDecember 2018Safety 
ISO 26262-5Road vehicles – Functional safety – Part 5: Product development at the hardware levelDecember 2018Safety 
ISO 26262-4Road vehicles – Functional safety – Part 4: Product development of the systemDecember 2018Safety 
ISO 26262-3Road vehicles – Functional safety – Part 3: Concept phaseDecember 2018Safety 
ISO 26262-2Road vehicles – Functional safety – Part 2: Management of functional safetyDecember 2018Safety 
ISO 26262-1Road vehicles – Functional safety – Part 1: VocabularyDecember 2018Safety 
PAS 1881:2020Assuring safety for autonomous vehicle trials and testingFebruary 2020Safety 
ISO/SAE  PAS 22736Intelligent transport systems – Taxonomy and definitions for terms related to driving automation systems for on-road motor vehiclesAugust 2021Terms & Definitions 
ISO/TR 21718:2019Intelligent transport systems — Spatio-temporal data dictionary for cooperative ITS and automated driving systems 2.0January 2019Terms & Definitions 
SAE_J3016Taxonomy and Definitions for Terms Related to Driving Automation Systems for On-Road Motor VehiclesJune 2018Terms & Definitions 
SAE J2735DDedicated Short Range Communications (DSRC) Message Set Dictionary (REVISED)March 2016Terms & Definitions 
J3216_202005Taxonomy and Definitions for Terms Related to Cooperative Driving Automation for On-Road Motor Vehicles May 2020Terms & Definitions 
PAS 1883:2020Operational design domain (ODD) taxonomy for an automated driving system (ADS). SpecificationAugust 2020Terms & Definitions 
ASAM OpenDRIVEOpen Dynamic Road Information for Vehicle EnvironmentAugust 2021Testing, Verification & Validation
ASAM OpenCRGOpen Curved Regular GridSeptember 2020Testing, Verification & Validation
OGC CityGMLOpen Geospatial Consortium – City Geographic Markup LanguageDecember 2019Testing, Verification & Validation
Khronos gITFKhronos Graphic Language trasmission formatJuly 2021Testing, Verification & Validation
ASAM OpenSCENARIO ASAM Open ScenarioMarch 2021Testing, Verification & Validation
ASAM OSI ASAM Open Simulation InterfaceMarch 2021Testing, Verification & Validation
FMIFunctional Mock-up InterfaceJuly 2021Testing, Verification & Validation
SSPSystem Structure and ParametrizzationMarch 2019Testing, Verification & Validation
ASAM XILGeneric Simulator Interface for testing purposeMarch 2020Testing, Verification & Validation
DCPDistributed Co-Simulation ProtocolMarch 2019Testing, Verification & Validation
SAE J3206Taxonomy and Definition of Safety Principles for Automated Driving System (ADS)July 2021Testing, Verification & Validation
ASAM OTX ExtensionsOpen Test Sequence eXchange FormatSeptember 2020Testing, Verification & Validation
ISO 13209-2:2012Road vehicles — Open Test sequence eXchange format (OTX) — Part 2: Core data model specification and requirementsAugust 2012Testing, Verification & Validation
ASAM MDFASAM Measurement Data FormatSeptember 2019Testing, Verification & Validation
ASAM ODSASAM ODS (Open Data Services) focuses on the persistent storage and retrieval of testing dataJune 2021Testing, Verification & Validation
AVSC00001201911AVSC Best Practice for In-Vehicle Fallback Test Driver Selection, Training, and Oversight Procedures for Automated Vehicles Under TestNovember 2019Testing, Verification & Validation
SAE J3018Guidelines for safe on-road testing of SAE level 3,4 and 5 prototype automated driving systemsOctober 2019Testing, Verification & Validation
CEN ISO/TS 21189Intelligent transport systems – Cooperative ITS – Test requirements and protocol implementation conformance statement (PICS) May 2019Testing, Verification & Validation
ISO 19206-1:2018Road vehicles — Test devices for target vehicles, vulnerable road users and other objects, for assessment of active safety functions — Part 1: Requirements for passenger vehicle rear-end targetsDecember 2018Testing, Verification & Validation
ISO 19206-2:2018Road vehicles — Test devices for target vehicles, vulnerable road users and other objects, for assessment of active safety functions — Part 2: Requirements for pedestrian targetsDecember 2018Testing, Verification & Validation
ISO 19206-4ISO 19206-4
Road vehicles — Test devices for target vehicles, vulnerable road users and other objects, for assessment of active safety functions — Part 4: Requirements for bicyclist targets
November 2020Testing, Verification & Validation
ISO 19364:2016Passenger cars — Vehicle dynamic simulation and validation — Steady-state circular driving behaviourOctober 2016Testing, Verification & Validation
ISO 19365:2016Passenger cars — Validation of vehicle dynamic simulation — Sine with dwell stability control testingOctober 2016Testing, Verification & Validation
ISO 22140:2021Passenger cars — Validation of vehicle dynamics simulation — Lateral transient response test methodsOctober 2016Testing, Verification & Validation
ISO 19206-3:2021Road vehicles — Test devices for target vehicles, vulnerable road users and other objects, for assessment of active safety functions — Part 3: Requirements for passenger vehicle 3D targetsMay 2021Testing, Verification & Validation
ISO 22735:2021Road vehicles — Test method to evaluate the performance of lane-keeping assistance systemsMay 2021Testing, Verification & Validation
ISO/DIS 22733-1:2021Test method to evaluate the performance of autonomous emergency braking systems — Part 1: Car-to-carJuly 2021Testing, Verification & Validation
Update: August 2021

Standards Under Development

Standard NumberTitleDomain
IEEE P2846P2846 – Assumptions for Models in Safety-Related Automated Vehicle BehaviorAD/ADAS functions
ISO 22733-1Road vehicles — Test method to evaluate the performance of autonomous emergency braking systems — Part 1: Car-to-carAD/ADAS functions
ISO/AWI 23375Intelligent transport systems — Collision evasive lateral manoeuvre systems (CELM) — Performance requirements and test proceduresAD/ADAS functions
ISO/AWI 23792-1Intelligent transport systems — Motorway chauffeur systems (MCS) — Part 1: Framework and general requirementsAD/ADAS functions
ISO/AWI 23793-1Intelligent transport systems —Minimal Risk Maneuver (MRM) for automated driving — Part 1: Framework, straight-stop and in-lane stopAD/ADAS functions
ISO/AWI 4273Intelligent transport systems — Automated braking during low speed manoeuvring (ABLS) — Requirements and test proceduresAD/ADAS functions
ISO/AWI 5283Road vehicles — Ergonomic aspects of driver monitoring and system interventions in the context of automated drivingAD/ADAS functions
ISO/CD 23374-1Intelligent transport systems – Automated valet parking systems (AVPS) – System framework, communication interface, and vehicle operationAD/ADAS functions
ISO/CD 4272Intelligent transport systems — Truck platooning systems (TPS) — Function and operational requirementsAD/ADAS functions
ISO/DIS 23376Intelligent transport systems — Vehicle-to-vehicle intersection collision warning systems (VVICW) — Performance requirements and test proceduresAD/ADAS functions
ETSI TS 103 324 Intelligent Transport Systems (ITS); Cooperative Perception Services
CPS 
Connectivity
ISO/AWI TR 23254Intelligent transport systems — Architecture — Use cases and high-level reference architecture for connected, automated vehiclesConnectivity
SAE J3161C-V2X Deployment Profiles Connectivity
ISO/AWI TR 23720Road vehicles – Methods for evaluating other road user behaviour in the presence of automated vehicle external communicationHuman Interaction
ISO/AWI TR 23735Road vehicles – Ergonomic design guidance for external visual communication from automated vehicles to other road usersHuman Interaction
ISO/AWI TS 5283Road vehicles — Ergonomic aspects of driver monitoring and system interventions in the context of automated drivingHuman Interaction
ISO/PWI 7999Road vehicles – HMI specifications for software updates Over the Air (OTA)Human Interaction
ISO/PWI PAS 23735Road vehicles — Ergonomic design guidance for external visual communication from automated vehicles to other road usersHuman Interaction
IEEE P2040.1-3Standard for General Requirements for Fully Automated Vehicles Driving on Public RoadsManagement/ Engineering Standards  
ISO/AWI 34504Road vehicles — Scenario attributes and categorizationManagement/ Engineering Standards  
ISO/CD 24089Road vehicles — Software update engineeringManagement/ Engineering Standards  
ISO/CD 34502Road vehicles — Engineering framework and process of scenario-based safety evaluationManagement/ Engineering Standards  
ISO/AWI TS 22726-1Intelligent transport systems — Dynamic data and map database specification for connected and automated driving system applications — Part 1: Architecture and logical data model for harmonization of static map dataMap and positioning
ISO/AWI TS 22726-2Intelligent transport systems — Dynamic data and map database specification for connected and automated driving system applications — Part 2: Logical data model of dynamic dataMap and positioning
 SS_V2X_001Security Specification through the Systems Engineering Process for SAE V2X Standards Privacy & Security  
ISO/PWI 8477Road vehicles — Cybersecurity verification and validationPrivacy & Security  
ISO/SAE FDIS 21434Road vehicles — Cybersecurity engineeringPrivacy & Security  
ISO/SAE PWI 8475Road vehicles — Cybersecurity Assurance Levels (CAL) and Target Attack Feasibility (TAF)Privacy & Security  
ISO/AWI TS 5083Road vehicles — Safety for automated driving systems — Design, verification and validationSafety 
ISO/DIS 21448Road vehicles — Safety of the intended functionalitySafety 
AVSC00002202004AVSC Best Practice for Describing an Operational Design Domain: Conceptual Framework and Lexicon Terms & Definitions 
ISO/AWI 34503Road vehicles — Taxonomy for operational design domain for automated driving systemsTerms & Definitions 
ISO/CD 34501Road vehicles — Terms and definitions of test scenarios for automated driving systemsTerms & Definitions 
ASAM OpenODDASAM Open ODDTesting, Verification & Validation
SAE J3131Automated Driving Reference ArchitectureAD/ADAS functions
ISO/DIS 11010-1Passenger cars — Simulation model classification — Part 1: Vehicle dynamicsTesting, Verification & Validation
ASAM OpenXOntology ASAM OpenX Ontology shall provide a foundation of common definitions, properties, and relations for central concepts of the ASAM OpenX standards, including OpenDRIVE, OpenSCENARIO, OpenLABEL and others.Testing, Verification & Validation
ASAM OpenLABELASAM OpenLbale aims to introduce a standardized set of labels for objects of interest (as identified by e.g. vehicle sensors) and for driving scenariosTesting, Verification & Validation
SAE J3164Taxonomy and Definitions for Terms Related to Automated Driving System Behaviors and Maneuvers for On-Road Motor Vehicles Testing, Verification & Validation
ISO/AWI 21734-1Public transport — Performance testing for connectivity and safety functions of automated driving bus — Part 1: General frameworkTesting, Verification & Validation
ISO/AWI 22733-2Test method to evaluate the performance of autonomous emergency braking systems — Part 2: Car to pedestrianTesting, Verification & Validation
ISO/AWI 24650Road Vehicles — Sensors for automated driving under adverse weather conditions — Assessment of the cleaning systemTesting, Verification & Validation
ISO/AWI TS 22133
Road vehicles — Test object monitoring and control for active safety and automated/autonomous vehicle testing — Functional requirements, specifications and communication protocol
Testing, Verification & Validation
ISO/DIS 11010-1 Passenger cars — Simulation model classification — Part 1: Vehicle dynamicsTesting, Verification & Validation
ISO/PWI 19206-5Road vehicles — Test devices for target vehicles, vulnerable road users and other objects, for assessment of active safety functions — Part 5: Requirements for powered two-wheeler targetsTesting, Verification & Validation
ISO/PWI 19206-7Road vehicles — Test devices for target vehicles, vulnerable road users and other objects, for assessment of active safety functions — Part 7: Test method for target carrier system behaviourTesting, Verification & Validation
ISO/PWI 19206-8Road vehicles — Test devices for target vehicles, vulnerable road users and other objects, for assessment of active safety functions — Part 8: Specification of stationary roadside surrogate targetsTesting, Verification & Validation
ISO/PWI 34505Road vehicles — Evaluation of test scenarios for automated driving systemsTesting, Verification & Validation
ISO/PWI 8023Road vehicles – Wizard-of-Oz methodology and automated driving systemsTesting, Verification & Validation
ISO/PWI TR 19206-6Road vehicles — Test devices for target vehicles, vulnerable road users and other objects, for assessment of active safety functions — Part 6: Research data and guidelines for surrogate animal targetsTesting, Verification & Validation
ISO/PWI TS 19206-9Road vehicles — Test devices for target vehicles, vulnerable road users and other objects, for assessment of active safety functions — Part 9: Requirements for small child targetsTesting, Verification & Validation
Update: August 2021

European standards

Many EU countries (e.g. France, Spain, and Sweden) have taken action to review the regulatory issues related to CAD, including testing of vehicles. Some EU countries (e.g. UK) have regulations favourable to testing and others (e.g. Italy and Germany) use a case-by-case approach. This suggests that EU member states are at different levels in terms of development, testing and deployment of CAD. For improved research and vehicle operation testing, an EU-wide harmonised regulation for CAD is required to support a legislative act.

In absence of certification, operations approval through independent assessment of a design safety case and an operations safety case is an intermediate step allowing the industry to move forward with safe and reliable deployments. However, it becomes necessary to create the standards and approaches that will set the specific requirements to be fulfilled to achieve certification in order to ensure the correct behaviour of the system.

Current certification standards are still under strong discussion mainly for SAE Level 2 whereas Level 3 is slowly being deployed; there is no clear vision on how to proceed for Level 4 and 5. For these levels, it is necessary to develop the regulation and technology in parallel in a harmonized way.

Industry participants in the communications sector have been good at collectively agreeing to standards, enabling widespread use of specific new technologies impacting CAD as well. Vehicles must communicate with each other and with roadside infrastructure. Evaluating communication methods between vehicles and with the road infrastructure is a main topic which needs to be addressed by standardisation bodies. Besides investigating what additional software and hardware is required to support the chosen approach the industry and governments had difficulties to adopt a unified communication technology. Short-distance direct V2X communication is needed to communicate with other vehicles and nearby objects. Two V2X communication approaches are being pursued, DSRC for United States or ITS-G5 (WiFi 802.11p) for Europe and cellular C-V2X based on LTE (maybe later this will change to 5G). An overview of several releases concerning the communication standards are explained below:

Harmonized C-ITS Specifications, release 1.4 (C-Roads):

Based on the cooperation with the CAR 2 CAR Communication Consortium, the harmonised CITS specifications focus on I2V (Infrastructure-to-Vehicle) communication, providing high level C-ITS Day-1 services that are profiled in line with the EC Phase 1 C-ITS Deployment Platform report:

  • RWW – Road Works Warning
  • IVS – In Vehicle Signage
  • OHLN – Other Hazardous Location Notifications
  • GLOSA – Green Light Optimal Speed Advisory.

The published specifications form the basis for the roll-out of infrastructure driven C-ITS services all across Europe and will be extended with each new release. First ITS-G5 implementations are already operational in several C-Roads Platform Member States and will be updated accordingly in the course of the C-Roads implementation initiative.

The harmonised communication profile for C-ITS services is publicly available and can be requested via https://www.c-roads.eu/platform/get-in-touch.html.

The European Telecommunications Standards Institute (ETSI)

The European Telecommunications Standards Institute (ETSI) is an independent organization that produces standards for ICT-enabled systems, applications & services deployed across all sectors of industry and society. More detail can be found on the organization’s website: https://www.etsi.org/

In the discipline of Automotive Intelligent Transport, ETSI addresses the following topics related to communications in vehicles, between vehicles (e.g. car-to-car), and between vehicles and fixed locations (e.g. car-to-infrastructure):

  • Cooperative-ITS (C-ITS) and its evolution to support full autonomous driving including wireless short range communications (ITS-G5). C-ITS provides connectivity between road participants and infrastructure.
  • Automotive ITS Security: this includes trust and privacy management and certificate formats.
  • Automotive radar
  • Dedicated Short-Range Communications (DSRC)
    DSRC provides communications between the vehicle and the roadside in specific locations (for example toll plazas). Applications such as Electronic Fee Collection (EFC) operates over DSRC.

The European Commission standardization request M/453 in the field of information and communication technologies to support the interoperability of Co-operative Systems for Intelligent Transport in the European Community as well as the standardization request M/546 on Intelligent Transport Systems in urban areas stresses this importance

The 3rd Generation Partnership Project (3GPP)

The 3GPP is a standard organization which develops protocols for mobile telephony. Its best known work is the development and maintenance of connectivity standards like 5G.

3GPP has defined a series of testing conditions to reproduce different environmental parameters that vehicles will encounter. These conditions focus on two key parameters:

  • Multipath propagations: Electromagnetic fields propagate in every dimension of the space, reflecting when they reach encounter reflective surfaces (buildings, ground). The radio receptor will receive not only the original radio signal source but a signal continuously modified by the surroundings
  • Signal Fading: Reflecting waves can be both constructive or destructives, thus modifying the original signal in different ways depending of the changing environment.

Electronic Communications Committee (CEPT-ECC)

The Electronic Communications Committee (CEPT-ECC) considers and develops policies on electronic communications activities in European context, taking account of European and international legislations and regulations.

Challenges and future standards

Standards are a necessity to achieve interoperability between communicating parties especially when products from different vendors shall be able to communicate with each other. To this end one of the major benefit arising is the ability for the customer to choose any vehicle brand with considering any potential technology incompatibilities.

In the rapidly evolving industry of automated, connected, electric and hybrid vehicles, the ability to create real-world test scenarios, troubleshoot potential failures and maximize the chance of passing standards within the allotted time helps bring products to market faster. Therefore, standards must be timely, market-driven and produced in an inclusive way that supports EU policies and Europe’s leadership in international standardisation.

Automotive technology also requires extension to smartphone technologies and wirelessly connected smart infrastructure. Automation functions such as sensing and processing already include high speed connectivity to enable autonomy. However, only small part of the autonomous domain is regulated and standardized. The collected information about existing standards aims in providing an overview of existing solutions and approaches. This way a simple gap analysis will reveal crucial aspects which are not addressed and the need for future standardisation activities

Currently, many standardisation activities are underway in different countries for (pre-) standards used in the development and testing of connected and automated systems. OEMs on one side produce their systems for a global market. However regional differences in products are needed and compliance to different user preferences and regulations.

There are a number of best practices that may be utilized in the process of developing a technical standard.

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