ISO/TS 23792-1:2023

FINAL
TECHNICAL ISO/DTS
DRAFT
SPECIFICATION 23792-1
ISO/TC 204
Intelligent transport systems —
Secretariat: ANSI
Motorway chauffeur systems (MCS) —
Voting begins on:
2023-02-14
Part 1:
Voting terminates on:
Framework and general requirements
2023-04-11
Systèmes de transport intelligents — Systèmes de conduite
automatisée sur voie à chaussée séparée (MCS) —
Partie 1: Cadre et exigences générales
RECIPIENTS OF THIS DRAFT ARE INVITED TO
SUBMIT, WITH THEIR COMMENTS, NOTIFICATION
OF ANY RELEVANT PATENT RIGHTS OF WHICH
THEY ARE AWARE AND TO PROVIDE SUPPOR TING
DOCUMENTATION.
IN ADDITION TO THEIR EVALUATION AS
Reference number
BEING ACCEPTABLE FOR INDUSTRIAL, TECHNO-
ISO/DTS 23792-1:2023(E)
LOGICAL, COMMERCIAL AND USER PURPOSES,
DRAFT INTERNATIONAL STANDARDS MAY ON
OCCASION HAVE TO BE CONSIDERED IN THE
LIGHT OF THEIR POTENTIAL TO BECOME STAN-
DARDS TO WHICH REFERENCE MAY BE MADE IN
NATIONAL REGULATIONS. © ISO 2023

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ISO/DTS 23792-1:2023(E)
FINAL
TECHNICAL ISO/DTS
DRAFT
SPECIFICATION 23792-1
ISO/TC 204
Intelligent transport systems —
Secretariat: ANSI
Motorway chauffeur systems (MCS) —
Voting begins on:
Part 1:
Voting terminates on:
Framework and general requirements
Systèmes de transport intelligents — Systèmes de conduite
automatisée sur voie à chaussée séparée (MCS) —
Partie 1: Cadre et exigences générales
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or ISO’s member body in the country of the requester.
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DOCUMENTATION.
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Reference number
Email: copyright@iso.org
BEING ACCEPTABLE FOR INDUSTRIAL, TECHNO-
ISO/DTS 23792-1:2023(E)
Website: www.iso.org
LOGICAL, COMMERCIAL AND USER PURPOSES,
DRAFT INTERNATIONAL STANDARDS MAY ON
Published in Switzerland
OCCASION HAVE TO BE CONSIDERED IN THE
LIGHT OF THEIR POTENTIAL TO BECOME STAN-
DARDS TO WHICH REFERENCE MAY BE MADE IN
ii
  © ISO 2023 – All rights reserved
NATIONAL REGULATIONS. © ISO 2023

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ISO/DTS 23792-1:2023(E)
Contents Page
Foreword .v
Introduction . vi
1 Scope . 1
2 Normative references . 1
3 Terms and definitions . 1
4 Abbreviated terms . 4
5 Characteristics of MCS . 4
5.1 General . 4
5.2 Operational design domain . 4
5.2.1 General . 4
5.2.2 Roadway physical characteristics . 5
5.2.3 Traffic in the surrounding environment . 6
5.2.4 Abnormalities in roadway operational condition . . 6
5.2.5 Ambient environmental conditions . 6
5.3 System functionalities . 6
5.3.1 General . 6
5.3.2 Basic functionalities to realize in-lane operation . 7
5.3.3 Lane changing functionalities . 7
5.4 System limitations . 7
5.5 Providing information to the user . 7
6 Operational requirements . 8
6.1 Operating conditions . 8
6.1.1 General . 8
6.1.2 Engagement conditions . 8
6.1.3 Disengagement triggering conditions . 8
6.1.4 Direct disengagement conditions . 8
6.2 State transition . 8
6.2.1 General . 8
6.2.2 Off state . 9
6.2.3 Standby state . 10
6.2.4 Normal state . 11
6.2.5 Requesting fallback state.12
6.3 System functions .12
6.3.1 General .12
6.3.2 Object and event detection and response (OEDR) .13
6.3.3 Vehicle motion control (VMC) . 13
6.3.4 Generation of request to intervene (RTI) . 14
6.3.5 Status indication . 14
6.3.6 User control interface . 16
6.3.7 FRU input detection . 16
6.3.8 MCS monitoring the FRU . 17
6.3.9 Subject vehicle condition monitor . 18
6.3.10 MCS condition monitor . 18
6.3.11 Localization. 18
6.3.12 External warning generation . 18
6.3.13 Function required for route following functionalities . 18
6.3.14 Related functions . 18
6.4 Requirements for continuing operation after detecting disengagement-triggering
conditions . 19
6.4.1 General . 19
6.4.2 Classification of adverse situations . 19
6.4.3 Responses to adverse situations . 20
iii
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ISO/DTS 23792-1:2023(E)
7 Minimum performance requirements of the DDT .20
7.1 General . 20
7.2 Operating speed range . 21
7.3 Normal operation . 21
7.3.1 Sustained longitudinal vehicle motion control . 21
7.3.2 Sustained lateral vehicle motion control . 21
7.3.3 Crash avoidance . 22
7.4 Performance-impaired operation . 22
7.5 MCS reaction to unresponsive FRU . 22
8 Test procedures .23
8.1 General .23
8.1.1 Purpose .23
8.1.2 Driving environment . 23
8.1.3 System settings and test driver roles . 23
8.1.4 Common test pass criteria . 23
8.1.5 Confirmation of the HMI design . 23
8.1.6 Success rate and number of trials . 24
8.1.7 List of test scenarios . 24
8.1.8 Test sites . 24
8.2 Scenario 1: MCS reaction to unresponsive FRU . 25
8.2.1 Test scenario .25
8.2.2 Pass criteria .25
8.3 Scenario 2: Direct disengagement by steering input . 25
8.3.1 Test scenario .25
8.3.2 Pass criteria . 25
8.4 Scenario 3: Continued operation after brake intervention . 25
8.4.1 Test scenario .25
8.4.2 Pass criteria . 26
8.5 Scenario 4: Forward vehicle braking hard . 26
8.5.1 Test scenario . 26
8.5.2 Pass criteria . 26
8.6 Scenario 5: Aggressive cut-in from the adjacent lane . 26
8.6.1 Test scenario . 26
8.6.2 Pass criteria . 27
8.7 Scenario 6: Obstacle in lane . 27
8.7.1 Test scenario . 27
8.7.2 Pass criteria .28
8.8 Scenario 8: Approaching geographical ODD boundary .28
8.8.1 Test scenario .28
8.8.2 Pass criteria .28
8.9 Scenario 9: Engagement restricted outside ODD .29
8.9.1 Test scenario .29
8.9.2 Pass criteria .29
Bibliography .30
iv
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ISO/DTS 23792-1:2023(E)
Foreword
ISO (the International Organization for Standardization) is a worldwide federation of national standards
bodies (ISO member bodies). The work of preparing International Standards is normally carried out
through ISO technical committees. Each member body interested in a subject for which a technical
committee has been established has the right to be represented on that committee. International
organizations, governmental and non-governmental, in liaison with ISO, also take part in the work.
ISO collaborates closely with the International Electrotechnical Commission (IEC) on all matters of
electrotechnical standardization.
The procedures used to develop this document and those intended for its further maintenance are
described in the ISO/IEC Directives, Part 1. In particular, the different approval criteria needed for the
different types of ISO documents should be noted. This document was drafted in accordance with the
editorial rules of the ISO/IEC Directives, Part 2 (see www.iso.org/directives).
Attention is drawn to the possibility that some of the elements of this document may be the subject of
patent rights. ISO shall not be held responsible for identifying any or all such patent rights. Details of
any patent rights identified during the development of the document will be in the Introduction and/or
on the ISO list of patent declarations received (see www.iso.org/patents).
Any trade name used in this document is information given for the convenience of users and does not
constitute an endorsement.
For an explanation of the voluntary nature of standards, the meaning of ISO specific terms and
expressions related to conformity assessment, as well as information about ISO's adherence to
the World Trade Organization (WTO) principles in the Technical Barriers to Trade (TBT), see
www.iso.org/iso/foreword.html.
This document was prepared by Technical Committee ISO/TC 204, Intelligent transport systems.
Any feedback or questions on this document should be directed to the user’s national standards body. A
complete listing of these bodies can be found at www.iso.org/members.html.
v
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ISO/DTS 23792-1:2023(E)
Introduction
An automated driving system (ADS) needs to be designed with the capability to cope with various
conditions such as the driving environment, behaviour of other vehicles in the surroundings, traffic
regulations, etc.
In addition, an ADS designed to operate on motorways can encounter various situations such as
merging into the main lane of traffic, adjusting the speed according to congested or freely flowing
traffic, overtaking other vehicles, or changing lanes when approaching an exit/lane closure.
For Level 3 automated driving, the ADS issues a request to the fallback-ready user (FRU) to take over
driving tasks when it cannot respond to certain conditions/situations.
The ISO 23782 series identifies the performance requirements for an ADS based on its capability to
respond to certain conditions and situations. The requirements are derived in order to reliably transfer
the control between the human driver and ADS, and for the safe operation by the ADS.
The ISO 23782 series focuses on the system functionalities, under the assumption that the FRU is
available and responsive to system requests to take over driving tasks.
vi
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TECHNICAL SPECIFICATION ISO/DTS 23792-1:2023(E)
Intelligent transport systems — Motorway chauffeur
systems (MCS) —
Part 1:
Framework and general requirements
1 Scope
[1]
Motorway chauffeur systems (MCS) perform level 3 automated driving on limited access motorways
with the presence of a fallback-ready user (FRU). MCS can be implemented in various forms capable
of responding to different driving scenarios. This document describes a framework of MCS including
system characteristics, system states/transition conditions and system functions.
MCSs are equipped with a basic set of functionalities to perform in-lane operation and can also be
equipped with additional functionalities such as lane changing.
This document specifies requirements of the basic set of functionalities and test procedures to verify
these requirements. The requirements include vehicle operation to perform the entire dynamic
[1] [1]
driving task (DDT) within the current lane of travel, to issue a request to intervene (RTI) before
disengaging, and to extend operation and temporarily continue to perform the DDT after issuing an
RTI.
This document describes one specific form of system engagement. Other forms are possible. These other
system engagement forms, especially those provided in combination with other driving automation
system features, are not within the scope of this document.
Requirements and test procedures for the additional functionalities are provided in other parts of the
ISO 23782 series.
Means related to setting a destination and selecting a route to reach the destination are not within the
[2]
scope of this document. This document applies to MCS installed in light vehicles.
2 Normative references
The following documents are referred to in the text in such a way that some or all of their content
constitutes requirements of this document. For dated references, only the edition cited applies. For
undated references, the latest edition of the referenced document (including any amendments) applies.
ISO 15622:2018, Intelligent transport systems — Adaptive cruise control systems — Performance
requirements and test procedures
ISO/SAE PAS 22736, Taxonomy and definitions for terms related to driving automation systems for on-
road motor vehicles
3 Terms and definitions
For the purposes of this document, the terms and definitions given in ISO/SAE PAS 22736 and the
following apply.
ISO and IEC maintain terminology databases for use in standardization at the following addresses:
— ISO Online browsing platform: available at https:// www .iso .org/ obp
1
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ISO/DTS 23792-1:2023(E)
— IEC Electropedia: available at https:// www .electropedia .org/
3.1
subject vehicle
vehicle equipped with a motorway chauffeur system (MCS) feature
3.2
motorway
road specially designed and built for motorized traffic that does not serve properties bordering on it,
and which;
— is provided, except at special points or temporarily, with separate carriageways for the two
directions of traffic, separated from each other either by a dividing strip not intended for traffic or,
exceptionally, by other means;
— does not cross at level with any road, railway or tramway track, or footpath;
— is specifically sign-posted as a motorway;
— is prohibited for access from non-motorized road users, such as pedestrians and cyclists.
Note 1 to entry: Roads which satisfy the defined conditions above may be referred to using different terms in
different countries.
3.3
route
planned sequence of waypoints to reach a destination
Note 1 to entry: See Figure 1:
Key
1 route A
2 route B
3 route C
a
To destination.
Figure 1 — Route
2
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ISO/DTS 23792-1:2023(E)
3.4
path
combination of one or more neighbouring lanes in the same direction of travel along a given route
Note 1 to entry: See Figure 2:
Key
1 path A
2 path B
Figure 2 — Path
3.5
trajectory
sequence of locations that define the intended motion vector of the subject vehicle (SV) used as
references for vehicle motion control
Note 1 to entry: The motion vector includes longitudinal position and/or speed, also lateral position and/or the
vehicle’s orientation information.
Note 2 to entry: see Figure 3:
Key
a
Trajectory.
Figure 3 — Trajectory
3
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ISO/DTS 23792-1:2023(E)
3.6
vehicle motion control
activities necessary to adjust vehicle movement continuously in real time, which include “lateral vehicle
motion control” and “longitudinal vehicle motion control”
Note 1 to entry: “Lateral vehicle motion control” and “longitudinal vehicle motion control” are defined in ISO/
SAE PAS 22736.
4 Abbreviated terms
[1]
ADS Automated driving system
[1]
DDT dynamic driving task
[1]
FRU fallback-ready user
FV forward vehicle
HMI human machine interface
MCS motorway chauffeur system
[1]
MRC minimal risk condition
MRM minimal risk manoeuvre
[1]
ODD operational design domain
[1]
OEDR object and event detection and response
TTC time to collision
[1]
RTI request to intervene
SV subject vehicle
VMC vehicle motion control
5 Characteristics of MCS
5.1 General
This document covers a variety of implementations of MCS based on its operational design domain
(ODD) (see 5.2) and functionalities (see 5.3).
The ODD definition of an MCS is considered to be design-specific for its implementation. Therefore,
the requirements in this document apply to the functionalities and performance of the MCS within its
prescribed ODD.
5.2 Operational design domain
5.2.1 General
Each MCS shall have a pre-defined ODD, and the user shall be informed of the general ODD limitations
(i.e. to make clear under which conditions a given MCS is capable of operating or not).
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ISO/DTS 23792-1:2023(E)
The description of an ODD shall, at minimum, include the following information unless the item doe
...

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IINTENTERNRNAALL Confidential C

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ISO /DTS 23792-1:20##(2023(E)
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ISO /DTS 23792-1:20##(2023(E)
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Contents
between Latin and Asian text, Don't adjust space
between Asian text and numbers
Foreword . v
Introduction . vi
1 Scope . 1
2 Normative references . 1
3 Terms and definitions . 1
4 Abbreviated terms. 3
Abbreviated terms . 3
5 Characteristics of MCS . 3
5.1 General . 3
5.2 Operational design domain . 4
General . 4
Roadway physical characteristics . 4
Traffic in the surrounding environment . 5
Abnormalities in roadway operational condition . 5
Ambient environmental conditions . 5
5.3 System functionalities . 6
General . 6
Basic functionalities to realize in-lane operation . 6
Lane changing functionalities . 6
5.4 System limitations . 7
5.5 Providing information to the user . 7
6 Operational requirements . 7
6.1 Operating conditions . 7
General . 7
Engagement conditions . 7
Disengagement triggering conditions. 7
Direct disengagement conditions . 7
6.2 State transition . 8
General . 8
Off state . 8
Standby state . 9
Normal state . 10
Requesting fallback state . 11
6.3 System functions . 12
General . 12
Object and event detection and response (OEDR) . 12
Vehicle motion control (VMC) . 13
Generation of Request to intervene (RTI) . 13
Status indication . 14
User control interface . 15
FRU input detection . 16
MCS monitoring the FRU . 17
Subject vehicle condition monitor . 17
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MCS condition monitor. 18
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Localization . 18
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ISO /DTS 23792-1:20##(2023(E)
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External warning generation . 18
Function required for route following functionalities . 18
Related functions . 18
6.4 Requirements for continuing operation after detecting disengagement triggering
conditions . 19
General . 19
Classification of adverse situations . 19
Responses to adverse situations . 20
7 Minimum performance requirements of the DDT . 20
7.1 General . 20
7.2 Operating speed range . 21
7.3 Normal operation . 21
Sustained longitudinal vehicle motion control . 21
Sustained lateral vehicle motion control . 22
Crash avoidance . 22
7.4 Performance-impaired operation . 22
7.5 MCS reaction to unresponsive FRU . 23
8 Test procedures . 23
8.1 General . 23
Purpose. 23
Driving environment . 23
System settings and test driver roles . 24
Common test pass criteria . 24
Confirmation of the HMI design . 24
Success rate and number of trials . 24
List of Test Scenarios . 24
Test sites . 25
8.2 Scenario 1: MCS reaction to unresponsive FRU . 25
Test scenario . 25
Pass criteria . 25
8.3 Scenario 2: Direct disengagement by steering input . 26
Test scenario . 26
Pass criteria . 26
8.4 Scenario 3: Continued operation after brake intervention . 26
Test scenario . 26
Pass criteria . 26
8.5 Scenario 4: Forward vehicle braking hard . 26
Test scenario . 26
Pass criteria . 27
8.6 Scenario 5: Aggressive cut-in from the adjacent lane . 27
Test scenario . 27
Pass criteria . 28
8.7 Scenario 6: Obstacle in lane . 28
Test scenario . 28
Pass criteria . 29
8.8 Scenario 8: Approaching geographical ODD boundary . 30
Test scenario . 30
Pass criteria . 30
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8.9 Scenario 9: Engagement restricted outside ODD . 30
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Test scenario . 30
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ISO /DTS 23792-1:20##(2023(E)
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Pass criteria . 30
Bibliography . 31
Foreword . viii
Introduction . ix
1 Scope . 1
2 Normative references . 1
3 Terms and definitions . 1
4 Abbreviated terms. 5
5 Characteristics of MCS . 6
5.1 General . 6
5.2 Operational design domain . 6
5.2.1 General . 6
5.2.2 Roadway physical characteristics . 8
5.2.3 Traffic in the surrounding environment . 8
5.2.4 Abnormalities in roadway operational condition . 8
5.2.5 Ambient environmental conditions . 9
5.3 System functionalities . 9
5.3.1 General . 9
5.3.2 Basic functionalities to realize in-lane operation . 9
5.3.3 Lane changing functionalities . 10
5.4 System limitations . 10
5.5 Providing information to the user . 10
6 Operational requirements . 10
6.1 Operating conditions . 10
6.1.1 General . 10
6.1.2 Engagement conditions . 11
6.1.3 Disengagement triggering conditions. 11
6.1.4 Direct disengagement conditions . 11
6.2 State transition . 11
6.2.1 General . 11
6.2.2 Off state . 13
6.2.3 Standby state . 13
6.2.4 Normal state . 14
6.2.5 Requesting fallback state . 15
6.3 System functions . 16
6.3.1 General . 16
6.3.2 Object and event detection and response (OEDR) . 17
6.3.3 Vehicle motion control (VMC) . 18
6.3.4 Generation of request to intervene (RTI) . 18
6.3.5 Status indication . 19
6.3.6 User control interface . 20
6.3.7 FRU input detection . 21
6.3.8 MCS monitoring the FRU . 22
6.3.9 Subject vehicle condition monitor . 22
6.3.10 MCS condition monitor. 22
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6.3.11 Localization . 23
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6.3.12 External warning generation . 23
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ISO /DTS 23792-1:20##(2023(E)
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6.3.13 Function required for route following functionalities . 23
6.3.14 Related functions . 23
6.4 Requirements for continuing operation after detecting disengagement-triggering
conditions . 23
6.4.1 General . 23
6.4.2 Classification of adverse situations . 24
6.4.3 Responses to adverse situations . 25
7 Minimum performance requirements of the DDT . 25
7.1 General . 25
7.2 Operating speed range . 26
7.3 Normal operation . 26
7.3.1 Sustained longitudinal vehicle motion control . 26
7.3.2 Sustained lateral vehicle motion control . 27
7.3.3 Crash avoidance . 27
7.4 Performance-impaired operation . 27
7.5 MCS reaction to unresponsive FRU . 28
8 Test procedures . 28
8.1 General . 28
8.1.1 Purpose.
...