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 Number | Title | Published date | Domain |
|---|---|---|---|
| ISO 22737:2021 | Intelligent transport systems — Low-speed automated driving (LSAD) systems for predefined routes — Performance requirements, system requirements and performance test procedures | July 2021 | AD/ADAS functions |
| ISO 21202:2020 | Intelligent transport systems — Partially automated lane change systems (PALS) — Functional / operational requirements and test procedures | April 2020 | AD/ADAS functions |
| ISO 21717:2018 | Intelligent transport systems — Partially Automated In-Lane Driving Systems (PADS) — Performance requirements and test procedures | September 2018 | AD/ADAS functions |
| ISO 16787:2017 | Intelligent transport systems — Assisted Parking System (APS) — Performance requirements and test procedure | December 2017 | AD/ADAS functions |
| ISO 20035 | ITS – Cooperative adaptive cruise control systems | January 2019 | AD/ADAS functions |
| ISO 19638 | ITS – Road boundary departure prevention systems | September 2018 | AD/ADAS functions |
| SAE J3045 | Truck & bus lane departure warning systems test procedure | September 2018 | AD/ADAS functions |
| ETSI TS 101 539 | Intersection collision risk warning | June 2018 | AD/ADAS functions |
| PAS 1880:2020 | Guidelines for developing and assessing control systems for automated vehicles | February 2020 | AD/ADAS functions |
| J3171_201911 | Identifying Automated Driving Systems-Dedicated Vehicles (ADS-DVs) Passenger Issues for Persons with Disabilities | November 2019 | AD/ADAS functions |
| ISO 19237:2017 | Intelligent transport systems — Pedestrian detection and collision mitigation systems (PDCMS) — Performance requirements and test | December 2017 | AD/ADAS functions |
| ISO 22078:2020 | Intelligent transport systems — Bicyclist detection and collision mitigation systems (BDCMS) — Performance requirements and test procedures | February 2020 | AD/ADAS functions |
| ISO 15622:2018 | Intelligent transport systems — Adaptive cruise control systems — Performance requirements and test procedures | September 2018 | AD/ADAS functions |
| ISO 20900:2019 | Intelligent transport systems — Partially automated parking systems (PAPS) — Performance requirements and test procedures | May 2019 | AD/ADAS functions |
| ISO 11067:2015 | Intelligent transport systems — Curve speed warning systems (CSWS) — Performance requirements and test procedures | July 2015 | AD/ADAS functions |
| ISO 11270:2014 | Intelligent transport systems — Lane keeping assistance systems (LKAS) — Performance requirements and test procedures | May 2014 | AD/ADAS functions |
| ISO 15623:2013 | Intelligent transport systems — Forward vehicle collision warning systems — Performance requirements and test procedures | July 2013 | AD/ADAS functions |
| ISO 17361:2017 | Intelligent transport systems — Lane departure warning systems — Performance requirements and test procedures | June 2017 | AD/ADAS functions |
| ISO 17386:2010 | Transport information and control systems — Manoeuvring Aids for Low Speed Operation (MALSO) — Performance requirements and test procedures | March 2010 | AD/ADAS functions |
| ISO 17387:2008 | Intelligent transport systems — Lane change decision aid systems (LCDAS) — Performance requirements and test procedures | May 2008 | AD/ADAS functions |
| ISO 22839:2013 | Intelligent transport systems — Forward vehicle collision mitigation systems — Operation, performance, and verification requirements | June 2013 | AD/ADAS functions |
| ISO 22840:2010 | Intelligent transport systems — Devices to aid reverse manoeuvres — Extended-range backing aid systems (ERBA) | April 2010 | AD/ADAS functions |
| ISO 26684:2015 | Intelligent transport systems (ITS) — Cooperative intersection signal information and violation warning systems (CIWS) — Performance requirements and test procedures | May 2015 | AD/ADAS functions |
| SAE J3114 | Human Factors Definitions for Automated Driving and Related Research Topics | December 2016 | AD/ADAS functions |
| AUTOSAR | AUTomotive Open System Architecture | November 2020 | AD/ADAS functions |
| ETSI GS MEC 013 V2.1.1 | Multi-access Edge Computing (MEC); Location API | September 2019 | Connectivity |
| ETSI GS MEC 030 V2.1.1 | Multi-access Edge Computing (MEC); V2X Information Service API | April 2020 | Connectivity |
| ETSI TR 102 638 V1.1.1 | Intelligent Transport Systems (ITS); Vehicular Communications; Basic Set of Applications; Definitions | June 2009 | Connectivity |
| ETSI TR 103 300-1 V2.2.1 | Intelligent Transport Systems (ITS); Vulnerable Road Users (VRU) awareness; Part 1: Use Cases definition; Release 2 | April 2021 | Connectivity |
| 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 2021 | Connectivity |
| 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 2 | April 2021 | Connectivity |
| NEMA TS 10-2020 | Connected vehicle infrastructure-roadside equipment | March 2020 | Connectivity |
| CEN ISO/TS 19468 | Intelligent transport systems – Data interfaces between centers for transport information and control system | October 2019 | Connectivity |
| IEEE 1609.12 | IEEE standard for wireless access in vehicular environments (WAVE) – Identifiers | September 2019 | Connectivity |
| CEN ISO/TS 19091 | Intelligent transport systems – Cooperative ITS – Using V2I and I2V communications for application related to signalized intersections | July 2019 | Connectivity |
| IEEE 1609.2b | IEEE standard for wireless access to vehicular environment | July 2019 | Connectivity |
| CEN/TR 17297-1 | Intelligent transport systems – Location referencing harmonization for urban ITS – Part 1: State of the art and guidelines | May 2019 | Connectivity |
| ISO 20078-3 | Road vehicles – Extended vehicle (ExVe) web services – Part 3: Security | May 2019 | Connectivity |
| ISO 20080 | Road vehicles – Information for remote diagnostic support | March 2019 | Connectivity |
| ISO 20078-2 | Road vehicles – Extended vehicle (ExVe) web services – Part 2: Access | February 2019 | Connectivity |
| ISO 20078-1 | Road vehicles – Extended vehicle (ExVe) web services – Part 1: Content | February 2019 | Connectivity |
| SAE J2945/2 | DSRC performance requirements for V2V safety awareness | October 2018 | Connectivity |
| ETSI TS 138 522 | 5G; NR; User equipment conformance specification | October 2018 | Connectivity |
| ETSI TS 102 965 | Intelligent transport systems; application object identifier | July 2018 | Connectivity |
| ETSI TR 121 914 | Digital cellular telecommunications system (Phase 2+) (GSM); Universal Mobile Telecommunications System (UMTS); LTE; 5G; Release description; Release 14 | June 2018 | Connectivity |
| ETSI TS 124 386 | LTE; User equipment to V2X control function | June 2018 | Connectivity |
| ISO 20077-1: 2017 | Road Vehicles — Extended vehicle (ExVe) methodology — Part 1: General information | December 2017 | Connectivity |
| SAE J2945 | Dedicated Short Range Communication (DSRC) Systems Engineering Process Guidance for SAE J2945/X Documents and Common Design Concepts | December 2017 | Connectivity |
| ISO 20077-2 | Road Vehicles — Extended vehicle (ExVe) methodology — Part 2: Methodology for designing the extended vehicle | December 2017 | Connectivity |
| ETSI TS 122 185 | LTE; Service requirements for V2X services | March 2017 | Connectivity |
| ETSI EN 302 571 v2.1.1 | Intelligent Transport Systems (ITS); Radio communications equipment operating in the 5 855 MHz to 5 925 MHz frequency band | February 2017 | Connectivity |
| J3067_202010 | Candidate Improvements to Dedicated Short Range Communications (DSRC) Message Set Dictionary [SAE J2735] Using Systems Engineering Methods(STABILIZED Oct 2020) | October 2020 | Connectivity |
| J2735ASN_202007 | V2X Communications Message Set Dictionary™ ASN file | March 2016 | Connectivity |
| J2735SET_202007 | V2X Communications Message Set Dictionary™ Set | March 2016 | Connectivity |
| J2735_202007 | V2X Communications Message Set Dictionary™ | December 2006 | Connectivity |
| J2945/1A_202007 | Vehicle Level Validation Test Procedures for V2V Safety Communications | July 2020 | Connectivity |
| J2945/2A_201907 | Dedicated Short Range Communications (DSRC) Performance Requirements for V2V Safety Awareness™ ASN File | July 2019 | Connectivity |
| ETSI GR IP6 030 | IPv6-based Vehicular Networking (V2X) | October 2020 | Connectivity |
| ETSI TR 103 496 | Intelligent Transport Systems (ITS); Cooperative ITS (C-ITS) support for transport pollution management applications; Use cases and standardization study | October 2020 | Connectivity |
| ETSI EN 302 890-2 | Intelligent Transport Systems (ITS); Facilities Layer function; Part 2: Position and Time management (PoTi); Release 2 | August 2020 | Connectivity |
| ETSI TS 122 185 | LTE; Service requirements for V2X services | August 2020 | Connectivity |
| ISO-20078-1: 2019 | Road vehicles — Extended vehicle (ExVe) web services — Part 1: Content | February 2019 | Connectivity |
| ISO-20078-2: 2019 | Road vehicles — Extended vehicle (ExVe) web services — Part 2: Access | February 2019 | Connectivity |
| ISO/PRF 21217:2020 | Intelligent transport systems — Station and communication architecture | December 2020 | Connectivity |
| ISO-20078-3: 2019 | Road vehicles — Extended vehicle (ExVe) web services —Part 3: Security | May 2019 | Connectivity |
| ISO-20078-4: 2019 | Road vehicles — Extended vehicle (ExVe) web services — Part 4: Control | April 2019 | Connectivity |
| ISO 23132:2020 | Road 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 2020 | Connectivity |
| ETSI TR 138 900 | Study on channel model for frequency spectrum above 6 GHz | July 2018 | Connectivity |
| ETSI TR 138 185 | Security aspect for LTE support of Vehicle-to-Everything (V2X) services | August 2020 | Connectivity |
| ETSI TR 121 914 | Digital cellular telecommunications system (Phase 2+) (GSM); Universal Mobile Telecommunications System (UMTS); LTE; 5G; | October 2018 | Connectivity |
| ETSI EN 302 895 | Intelligent Transport Systems (ITS); Vehicular Communications; Basic Set of Applications; Local Dynamic Map (LDM) | September 2014 | Connectivity |
| ETSI EN 302 686 | Intelligent 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 Directive | February 2011 | Connectivity |
| 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 2019 | Connectivity |
| EN 302 571 | Radiocommunications equipment operating in the 5 855 MHz to 5 925 MHz frequency band; | February 2017 | Connectivity |
| ETSI EN 302 637-2 V1.4.1 | Intelligent Transport Systems (ITS); Vehicular Communications; Basic Set of Applications; Part 2: Specification of Cooperative Awareness Basic Service | January 2019 | Connectivity |
| 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 Service | April 2019 | Connectivity |
| ETSI TS 102 894-2 V1.3.1 | Intelligent Transport Systems (ITS); Users and applications requirements; Part 2: Applications and facilities layer common data dictionary | August 2018 | Connectivity |
| ETSI EN 302 665 V1.1.1 | Intelligent Transport Systems (ITS); Communications Architecture | September 2010 | Connectivity |
| ETSI TS 102 792 V1.2.1 | Intelligent 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 range | June 2015 | Connectivity |
| ETSI TS 103 301 V1.3.1 | Intelligent Transport Systems (ITS); Vehicular Communications; Basic Set of Applications; Facilities layer protocols and communication requirements for infrastructure services | February 2020 | Connectivity |
| ISO/TS 19321:2020 | Intelligent transport systems — Cooperative ITS — Dictionary of in-vehicle information (IVI) data structures | September 2020 | Connectivity |
| ETSI EN 302 636-5-1 V2.2.1 | Intelligent Transport Systems (ITS); Vehicular Communications; GeoNetworking; Part 5: Transport Protocols; Sub-part 1: Basic Transport Protocol | May 2019 | Connectivity |
| ETSI EN 302 636-4-1 V1.4.1 | Intelligent 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 Functionality | November 2019 | Connectivity |
| IEEE 1609.4 | IEEE Standard for Wireless Access in Vehicular Environments (WAVE) — Multi-Channel Operation | January 2016 | Connectivity |
| IEEE 1609.3 | IEEE Standard for Wireless Access in Vehicular Environments (WAVE) — Networking Services | January 2016 | Connectivity |
| ETSI EN 303 613 | Intelligent Transport Systems (ITS); LTE-V2X Access layer specification for Intelligent Transport Systems operating in the 5 GHz frequency band | January 2020 | Connectivity |
| ISO 17515-3:2019 | Intelligent transport systems — Evolved-universal terrestrial radio access network — Part 3: LTE-V2X | August 2019 | Connectivity |
ISO 17427-1:2018 | Intelligent transport systems — Cooperative ITS — Part 1: Roles and responsibilities in the context of co-operative ITS architecture(s) | June 2018 | Connectivity |
| ISO 17419:2018 | Intelligent transport systems — Cooperative systems — Globally unique identification | May 2018 | Connectivity |
| ISO 17423:2018 | Intelligent transport systems — Cooperative systems — Application requirements and objectives | May 2018 | Connectivity |
| ISO 24102 (part 1-6) | Intelligent transport systems — Communications access for land mobiles (CALM) — ITS station management | January 2018 | Connectivity |
| ISO/TS 17429:2017 | Intelligent transport systems — Cooperative ITS — ITS station facilities for the transfer of information between ITS stations | March 2017 | Connectivity |
| ISO/TR 13185-1:2012 | Intelligent transport systems — Vehicle interface for provisioning and support of ITS services — Part 1: General information and use case definition | May 2012 | Connectivity |
| 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) interface | April 2015 | Connectivity |
| 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 specification | June 2018 | Connectivity |
| ISO 13185-4:2020 | Intelligent transport systems — Vehicle interface for provisioning and support of ITS Services — Part 4: Unified vehicle interface protocol (UVIP) conformance test specification | May 2020 | Connectivity |
| ISO 14813-1:2015 | Intelligent transport systems — Reference model architecture(s) for the ITS sector — Part 1: ITS service domains, service groups and services | October 2015 | Connectivity |
| ISO 14813-5:2020 | Intelligent transport systems — Reference model architecture(s) for the ITS sector — Part 5: Requirements for architecture description in ITS standards | January 2020 | Connectivity |
| ISO 14813-6:2017 | Intelligent transport systems — Reference model architecture(s) for the ITS sector — Part 6: Use of ASN.1 | November 2017 | Connectivity |
| ISO/TR 21959-1:2020 | Road vehicles — Human performance and state in the context of automated driving — Part 1: Common underlying concepts | January 2020 | Human Interaction |
| ISO/TR 21959-2:2020 | Road vehicles — Human performance and state in the context of automated driving — Part 2: Considerations in designing experiments to investigate transition processes | February 2020 | Human Interaction |
| ISO/TR 23049:2018 | Road Vehicles — Ergonomic aspects of external visual communication from automated vehicles to other road users | September 2018 | Human Interaction |
| ISO 15007:2020 | Road vehicles — Measurement and analysis of driver visual behaviour with respect to transport information and control systems | August 2020 | Human Interaction |
| ISO/DIS 23150 | Road vehicles — Data communication between sensors and data fusion unit for automated driving functions — Logical interface | May 2021 | In-Vehicle Systems, Networks, Data and Interface Definition |
| SAE J3134 | Automated driving system marking lights | May 2019 | In-Vehicle Systems, Networks, Data and Interface Definition |
| SAE J3197 | Automated Driving System Data Logger | April 2020 | In-Vehicle Systems, Networks, Data and Interface Definition |
| ISO 21111 -1-10 | Road vehicles — In-vehicle Ethernet — Part 1 – 10 | October 2020 | In-Vehicle Systems, Networks, Data and Interface Definition |
| ISO/TR 20545:2017 | Intelligent transport systems — Vehicle/roadway warning and control systems — Report on standardisation for vehicle automated driving systems (RoVAS)/Beyond driver assistance systems | July 2017 | Management/ Engineering Standards |
| CEN/TS 17400:2020 | Intelligent transportation systems – Urban ITS – Mixed vendor environments, methodologies & translators | April 2020 | Management/ Engineering Standards |
| ISO 20524-2:2020 | Intelligent transport systems — Geographic Data Files (GDF) GDF5.1 — Part 2: Map data used in automated driving systems, Cooperative ITS, and multi-modal transport | November 2020 | Map and positioning |
| EN 16803-1 | Space – Use of GNSS-based positioning for road Intelligent Transport Systems (ITS) – Part 1: Definitions and system engineering procedures for the establishment and assessment of performances | October 2016 | Map and positioning |
| ETSI TS 103 246-1 | Satellite Earth Stations and Systems (SES); GNSS based location systems; Part 1: Functional requirements | October 2020 | Map and positioning |
| ISO 14296:2016 | Intelligent transport systems — Extension of map database specifications for applications of cooperative IST | February 2016 | Map and positioning |
| ISO 14825:2011 | Intelligent transport systems — Geographic Data Files (GDF) — GDF5.0 | July 2011 | Map and positioning |
| ISO 18750:2018 | Intelligent transport systems — Co-operative ITS — Local dynamic map | May 2018 | Map and positioning |
| ISO 17572-1:2015 | Intelligent transport systems (ITS) — Location referencing for geographic databases — Part 1: General requirements and conceptual model | January 2015 | Map and positioning |
| ISO 17572-2:2018 | Intelligent transport systems (ITS) — Location referencing for geographic databases — Part 2: Pre-coded location references (pre-coded profile) | September 2018 | Map and positioning |
| ISO 17572-3:2015 | Intelligent transport systems (ITS) — Location referencing for geographic databases — Part 3: Dynamic location references (dynamic profile) | January 2015 | Map and positioning |
| ISO 17572-4:2020 | Intelligent transport systems (ITS) — Location referencing for geographic databases — Part 4: Precise relative location references (precise relative profile) | April 2020 | Map and positioning |
| ISO/SAE DIS 21434:2021 | Road vehicles – Cybersecurity engineering | August 2021 | Privacy & Security |
| ISO/TS 21177:2019 | Intelligent transport systems — ITS station security services for secure session establishment and authentication between trusted devices | August 2019 | Privacy & Security |
| CEN ISO/TS 21177 | Intelligent transport systems – ITS station security services for secure session establishment and authentication between trusted devices | October 2019 | Privacy & Security |
| BSI PAS 1885 | Fundamental principles of automotive cyber security | December 2018 | Privacy & Security |
| BSI PAS 11281 | Connected automotive ecosystems. Impact of security on safety. Code of practice. | December 2018 | Privacy & Security |
| SAE J3061 | Cybersecurity guidebook for Cyber-Physical vehicle Systems | January 2016 | Privacy & Security |
| ETSI TR 103 460 | Intelligent Transport Systems (ITS); Security; Pre-standardization study on Misbehaviour Detection; Release 2 | October 2020 | Privacy & Security |
| ETSI TS 103 097 V1.4.1 | Intelligent Transport Systems (ITS); Security; Security header and certificate formats | October 2020 | Privacy & Security |
| AVSC00007202107 | AVSC Information Report for Adapting a Safety Management System (SMS) for Automated Driving System (ADS) SAE Level 4 and 5 Testing and Evaluation | July 2021 | Safety |
| ISO/CD TR 4804:2020 | Road vehicles — Safety and cybersecurity for automated driving systems — Design, verification and validation methods | December 2020 | Safety |
| UL 4600 | A safety standard governing self-driving cars | April 2020 | Safety |
| ISO/PAS 21448 | Road vehicles – Safety of the intended functionality | January 2019 | Safety |
| ISO 26262-11 | Road vehicles – Functional safety – Part 11: Guidelines on application of ISO 26262 to semiconductors | December 2018 | Safety |
| ISO 26262-10 | Road vehicles – Functional safety – Part 10: Guidelines on ISO 26262 | December 2018 | Safety |
| ISO 26262-9 | Road vehicles – Functional safety – Part 9: Automotive safety integrity level (ASIL) – oriented and safety-oriented analyses | December 2018 | Safety |
| ISO 26262-7 | Road vehicles – Functional safety – Part 7: Production, operation, service and decommissioning | December 2018 | Safety |
| ISO 26262-6 | Road vehicles – Functional safety – Part 6: Product development at the software level | December 2018 | Safety |
| ISO 26262-5 | Road vehicles – Functional safety – Part 5: Product development at the hardware level | December 2018 | Safety |
| ISO 26262-4 | Road vehicles – Functional safety – Part 4: Product development of the system | December 2018 | Safety |
| ISO 26262-3 | Road vehicles – Functional safety – Part 3: Concept phase | December 2018 | Safety |
| ISO 26262-2 | Road vehicles – Functional safety – Part 2: Management of functional safety | December 2018 | Safety |
| ISO 26262-1 | Road vehicles – Functional safety – Part 1: Vocabulary | December 2018 | Safety |
| PAS 1881:2020 | Assuring safety for autonomous vehicle trials and testing | February 2020 | Safety |
| ISO/SAE PAS 22736 | Intelligent transport systems – Taxonomy and definitions for terms related to driving automation systems for on-road motor vehicles | August 2021 | Terms & Definitions |
| ISO/TR 21718:2019 | Intelligent transport systems — Spatio-temporal data dictionary for cooperative ITS and automated driving systems 2.0 | January 2019 | Terms & Definitions |
| SAE_J3016 | Taxonomy and Definitions for Terms Related to Driving Automation Systems for On-Road Motor Vehicles | June 2018 | Terms & Definitions |
| SAE J2735D | Dedicated Short Range Communications (DSRC) Message Set Dictionary (REVISED) | March 2016 | Terms & Definitions |
| J3216_202005 | Taxonomy and Definitions for Terms Related to Cooperative Driving Automation for On-Road Motor Vehicles | May 2020 | Terms & Definitions |
| PAS 1883:2020 | Operational design domain (ODD) taxonomy for an automated driving system (ADS). Specification | August 2020 | Terms & Definitions |
| ASAM OpenDRIVE | Open Dynamic Road Information for Vehicle Environment | August 2021 | Testing, Verification & Validation |
| ASAM OpenCRG | Open Curved Regular Grid | September 2020 | Testing, Verification & Validation |
| OGC CityGML | Open Geospatial Consortium – City Geographic Markup Language | December 2019 | Testing, Verification & Validation |
| Khronos gITF | Khronos Graphic Language trasmission format | July 2021 | Testing, Verification & Validation |
| ASAM OpenSCENARIO | ASAM Open Scenario | March 2021 | Testing, Verification & Validation |
| ASAM OSI | ASAM Open Simulation Interface | March 2021 | Testing, Verification & Validation |
| FMI | Functional Mock-up Interface | July 2021 | Testing, Verification & Validation |
| SSP | System Structure and Parametrizzation | March 2019 | Testing, Verification & Validation |
| ASAM XIL | Generic Simulator Interface for testing purpose | March 2020 | Testing, Verification & Validation |
| DCP | Distributed Co-Simulation Protocol | March 2019 | Testing, Verification & Validation |
| SAE J3206 | Taxonomy and Definition of Safety Principles for Automated Driving System (ADS) | July 2021 | Testing, Verification & Validation |
| ASAM OTX Extensions | Open Test Sequence eXchange Format | September 2020 | Testing, Verification & Validation |
| ISO 13209-2:2012 | Road vehicles — Open Test sequence eXchange format (OTX) — Part 2: Core data model specification and requirements | August 2012 | Testing, Verification & Validation |
| ASAM MDF | ASAM Measurement Data Format | September 2019 | Testing, Verification & Validation |
| ASAM ODS | ASAM ODS (Open Data Services) focuses on the persistent storage and retrieval of testing data | June 2021 | Testing, Verification & Validation |
| AVSC00001201911 | AVSC Best Practice for In-Vehicle Fallback Test Driver Selection, Training, and Oversight Procedures for Automated Vehicles Under Test | November 2019 | Testing, Verification & Validation |
| SAE J3018 | Guidelines for safe on-road testing of SAE level 3,4 and 5 prototype automated driving systems | October 2019 | Testing, Verification & Validation |
| CEN ISO/TS 21189 | Intelligent transport systems – Cooperative ITS – Test requirements and protocol implementation conformance statement (PICS) | May 2019 | Testing, Verification & Validation |
| ISO 19206-1:2018 | Road 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 targets | December 2018 | Testing, Verification & Validation |
| ISO 19206-2:2018 | Road vehicles — Test devices for target vehicles, vulnerable road users and other objects, for assessment of active safety functions — Part 2: Requirements for pedestrian targets | December 2018 | Testing, Verification & Validation |
| ISO 19206-4 | ISO 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 2020 | Testing, Verification & Validation |
| ISO 19364:2016 | Passenger cars — Vehicle dynamic simulation and validation — Steady-state circular driving behaviour | October 2016 | Testing, Verification & Validation |
| ISO 19365:2016 | Passenger cars — Validation of vehicle dynamic simulation — Sine with dwell stability control testing | October 2016 | Testing, Verification & Validation |
| ISO 22140:2021 | Passenger cars — Validation of vehicle dynamics simulation — Lateral transient response test methods | October 2016 | Testing, Verification & Validation |
| ISO 19206-3:2021 | Road 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 targets | May 2021 | Testing, Verification & Validation |
| ISO 22735:2021 | Road vehicles — Test method to evaluate the performance of lane-keeping assistance systems | May 2021 | Testing, Verification & Validation |
| ISO/DIS 22733-1:2021 | Test method to evaluate the performance of autonomous emergency braking systems — Part 1: Car-to-car | July 2021 | Testing, Verification & Validation |
Standards Under Development
| Standard Number | Title | Domain |
|---|---|---|
| IEEE P2846 | P2846 – Assumptions for Models in Safety-Related Automated Vehicle Behavior | AD/ADAS functions |
| ISO 22733-1 | Road vehicles — Test method to evaluate the performance of autonomous emergency braking systems — Part 1: Car-to-car | AD/ADAS functions |
| ISO/AWI 23375 | Intelligent transport systems — Collision evasive lateral manoeuvre systems (CELM) — Performance requirements and test procedures | AD/ADAS functions |
| ISO/AWI 23792-1 | Intelligent transport systems — Motorway chauffeur systems (MCS) — Part 1: Framework and general requirements | AD/ADAS functions |
| ISO/AWI 23793-1 | Intelligent transport systems —Minimal Risk Maneuver (MRM) for automated driving — Part 1: Framework, straight-stop and in-lane stop | AD/ADAS functions |
| ISO/AWI 4273 | Intelligent transport systems — Automated braking during low speed manoeuvring (ABLS) — Requirements and test procedures | AD/ADAS functions |
| ISO/AWI 5283 | Road vehicles — Ergonomic aspects of driver monitoring and system interventions in the context of automated driving | AD/ADAS functions |
| ISO/CD 23374-1 | Intelligent transport systems – Automated valet parking systems (AVPS) – System framework, communication interface, and vehicle operation | AD/ADAS functions |
| ISO/CD 4272 | Intelligent transport systems — Truck platooning systems (TPS) — Function and operational requirements | AD/ADAS functions |
| ISO/DIS 23376 | Intelligent transport systems — Vehicle-to-vehicle intersection collision warning systems (VVICW) — Performance requirements and test procedures | AD/ADAS functions |
| ETSI TS 103 324 | Intelligent Transport Systems (ITS); Cooperative Perception Services CPS | Connectivity |
| ISO/AWI TR 23254 | Intelligent transport systems — Architecture — Use cases and high-level reference architecture for connected, automated vehicles | Connectivity |
| SAE J3161 | C-V2X Deployment Profiles | Connectivity |
| ISO/AWI TR 23720 | Road vehicles – Methods for evaluating other road user behaviour in the presence of automated vehicle external communication | Human Interaction |
| ISO/AWI TR 23735 | Road vehicles – Ergonomic design guidance for external visual communication from automated vehicles to other road users | Human Interaction |
| ISO/AWI TS 5283 | Road vehicles — Ergonomic aspects of driver monitoring and system interventions in the context of automated driving | Human Interaction |
| ISO/PWI 7999 | Road vehicles – HMI specifications for software updates Over the Air (OTA) | Human Interaction |
| ISO/PWI PAS 23735 | Road vehicles — Ergonomic design guidance for external visual communication from automated vehicles to other road users | Human Interaction |
| IEEE P2040.1-3 | Standard for General Requirements for Fully Automated Vehicles Driving on Public Roads | Management/ Engineering Standards |
| ISO/AWI 34504 | Road vehicles — Scenario attributes and categorization | Management/ Engineering Standards |
| ISO/CD 24089 | Road vehicles — Software update engineering | Management/ Engineering Standards |
| ISO/CD 34502 | Road vehicles — Engineering framework and process of scenario-based safety evaluation | Management/ Engineering Standards |
| ISO/AWI TS 22726-1 | Intelligent 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 data | Map and positioning |
| ISO/AWI TS 22726-2 | Intelligent transport systems — Dynamic data and map database specification for connected and automated driving system applications — Part 2: Logical data model of dynamic data | Map and positioning |
| SS_V2X_001 | Security Specification through the Systems Engineering Process for SAE V2X Standards | Privacy & Security |
| ISO/PWI 8477 | Road vehicles — Cybersecurity verification and validation | Privacy & Security |
| ISO/SAE FDIS 21434 | Road vehicles — Cybersecurity engineering | Privacy & Security |
| ISO/SAE PWI 8475 | Road vehicles — Cybersecurity Assurance Levels (CAL) and Target Attack Feasibility (TAF) | Privacy & Security |
| ISO/AWI TS 5083 | Road vehicles — Safety for automated driving systems — Design, verification and validation | Safety |
| ISO/DIS 21448 | Road vehicles — Safety of the intended functionality | Safety |
| AVSC00002202004 | AVSC Best Practice for Describing an Operational Design Domain: Conceptual Framework and Lexicon | Terms & Definitions |
| ISO/AWI 34503 | Road vehicles — Taxonomy for operational design domain for automated driving systems | Terms & Definitions |
| ISO/CD 34501 | Road vehicles — Terms and definitions of test scenarios for automated driving systems | Terms & Definitions |
| ASAM OpenODD | ASAM Open ODD | Testing, Verification & Validation |
| SAE J3131 | Automated Driving Reference Architecture | AD/ADAS functions |
| ISO/DIS 11010-1 | Passenger cars — Simulation model classification — Part 1: Vehicle dynamics | Testing, 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 OpenLABEL | ASAM OpenLbale aims to introduce a standardized set of labels for objects of interest (as identified by e.g. vehicle sensors) and for driving scenarios | Testing, Verification & Validation |
| SAE J3164 | Taxonomy and Definitions for Terms Related to Automated Driving System Behaviors and Maneuvers for On-Road Motor Vehicles | Testing, Verification & Validation |
| ISO/AWI 21734-1 | Public transport — Performance testing for connectivity and safety functions of automated driving bus — Part 1: General framework | Testing, Verification & Validation |
| ISO/AWI 22733-2 | Test method to evaluate the performance of autonomous emergency braking systems — Part 2: Car to pedestrian | Testing, Verification & Validation |
| ISO/AWI 24650 | Road Vehicles — Sensors for automated driving under adverse weather conditions — Assessment of the cleaning system | Testing, 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 dynamics | Testing, Verification & Validation |
| ISO/PWI 19206-5 | Road 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 targets | Testing, Verification & Validation |
| ISO/PWI 19206-7 | Road 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 behaviour | Testing, Verification & Validation |
| ISO/PWI 19206-8 | Road 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 targets | Testing, Verification & Validation |
| ISO/PWI 34505 | Road vehicles — Evaluation of test scenarios for automated driving systems | Testing, Verification & Validation |
| ISO/PWI 8023 | Road vehicles – Wizard-of-Oz methodology and automated driving systems | Testing, Verification & Validation |
| ISO/PWI TR 19206-6 | Road 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 targets | Testing, Verification & Validation |
| ISO/PWI TS 19206-9 | Road vehicles — Test devices for target vehicles, vulnerable road users and other objects, for assessment of active safety functions — Part 9: Requirements for small child targets | Testing, Verification & Validation |
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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