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SAE J3016标准2014年版

SAE J3016标准2014年版
SAE J3016标准2014年版

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SURFACE VEHICLE

INFORMATION REPORT

J3016 JAN2014

I ssued 2014-01

Taxonomy and Definitions for Terms Related to On-Road Motor Vehicle Automated

Driving Systems

RATIONALE

This Information Report provides a taxonomy describing the full range of levels of automation in on-road motor vehicles . It also includes operational definitions for advanced levels of automation and related terms. This document provides a foundation for further standards development activities and a common language for discussions within the broader 3$XWRPDWHG $XWRQRPRXV 9HKLFOH′ FRPPXQLW\ 1. SCOPE

This I nformation Report provides a taxonomy for motor vehicle automation ranging in level from no automation to full automation . However, it provides detailed definitions only for the highest three levels of automation provided in the taxonomy (namely, conditional , high and full automation ) in the context of motor vehicles (hereafter also referred to as 3vehicle ′ RU 3vehicles ′ DQG WKHLU RSHUDWLRQ RQ SXEOLF URDGZD\V 7KHVH ODWWHU OHYHOV RI DGYDQFHG DXWRPDWLRQ UHIHU WR FDVHV in which the dynamic driving task is performed entirely by an automated driving system during a given driving mode or trip 3RSXODU PHGLD DQG OHJLVODWLYH UHIHUHQFHV WR 3DXWRQRPRXV′ RU 3VHOI -GULYLQJ′ YHKLFOHV HQFRPSDVV VRPH RU DOO RI WKHVH levels of automation. These definitions can be used to describe the automation of (1) on-road vehicles , (2) particular V\VWHPV ZLWKLQ WKRVH YHKLFOHV DQG WKH RSHUDWLRQ RI WKRVH YHKLFOHV 32Q -URDG′ UHIHUV WR SXEOLF URDGZD\V WKDW collectively serve users of vehicles of all classes and automation levels (including no automation), as well as motorcyclists, pedal cyclists, and pedestrians.

This document does not provide complete definitions applicable to lower levels of automation (namely, no automation, assisted, or partial automation), but they are described as points of reference to help bound the full range of vehicle automation. Active safety and driver assistance systems that partially and/or temporarily automate certain aspects of vehicle operation (including systems that automatically intervene to avoid and/or mitigate an emergency situation and then immediately disengage), but otherwise rely on a human driver to operate the motor vehicle in real time, are also not included within the conditional , high , and full automation taxonomy types that are the focus of this document. 2. REFERENCES

2.1 Applicable Documents

The following publications form a part of this specification to the extent specified herein. Unless otherwise indicated, the latest issue of SAE publications shall apply.

Tom M. Gasser and Daniel Westhoff, BASt-study: Definitions of Automation and Legal Issues in Germany , 2012 Road

Vehicle Automation Workshop, Transportation Research Board, July 25, 2012, https://www.doczj.com/doc/5e16059521.html,/onlinepubs/conferences/2012/Automation/presentations/Gasser.pdf at 6.

33UHOLPLQDU\ 6WDWHPHQW RI 3ROLF\ &RQFHUQLQJ $XWRPDWHG 9HKLFOHV ′ 1DWLRQDO +LJKZD\ 7UDIILF 6DIHW\ $GPLQLVWUDWLRQ 0D\ 30, 2013, https://www.doczj.com/doc/5e16059521.html,/About+NHTSA/Press+Releases/U.S.+Department+of+Transportation+Releases+ Policy+on+Automated+Vehicle+Development

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Bryant Walker Smith, SAE Levels of Automaton, https://www.doczj.com/doc/5e16059521.html,/LoDA (December 18, 2013) 49 U.S.C. § 30102(a)(6) ± definition of motor vehicle.

Michon, J.A., 1985. A CRITICAL VIEW OF DRIVER BEHAVIOR MODELS: WHAT DO WE KNOW, WHAT SHOULD WE DO? In L. Evans & R. C. Schwing (Eds.). Human behavior and traffic safety (pp. 485-520). New York: Plenum Press, 1985.

3. TAXONOMY OF AUTOMATED DRIVING

TABLE 1 - SUMMARY OF LEVELS OF DRIVING AUTOMATION FOR ON-ROAD VEHICLES

6$(?V OHYHOV RI driving automation are descriptive rather than normative and technical rather than legal. Elements indicate minimum rather than maximum capabilities for each level. In this table, "system" refers to the driver assistance system, combination of driver assistance systems, or automated driving system , as appropriate. This table also shows KRZ 6$(?V levels definitively correspond to those developed by the Germany Federal Highway Research I nstitute (BASt) and approximately correspond to those described by the National Highway Traffic Safety Administration in its May 30, 2013, SDSHU WLWOHG 33UHOLPLQDU\ 6WDWHPHQW RI 3ROLF\ &RQFHUQLQJ $XWRPDWHG 9HKLFOHV ′ 6HH VHFWLRQ EHORZ

S A E l e v e l

SAE name SAE narrative definition

Execution of steering and acceleration/ deceleration

Monitoring of

driving

environment

Fallback performance of dynamic driving task System

capability

(driving

modes ) B A S t l e v e l

N H T S A l e v e l Human driver monitors the driving environment

0 No

Automation

the full-time performance by the human driver of all aspects of the dynamic driving task , even when enhanced by warning or intervention systems

Human driver Human driver Human driver n/a

Driver only

0 1

Driver Assistance the driving mode -specific execution by a driver

assistance system of either steering or

acceleration/deceleration using information about the driving environment and with the expectation that the human driver perform all remaining aspects of the

dynamic driving task Human driver

and system

Human driver Human driver

Some driving modes

Assisted 1

2 Partial Automation the driving mode -specific execution by one or more driver assistance systems of both steering and

acceleration/deceleration using information about the driving environment and with the expectation that the

human driver perform all remaining aspects of the

dynamic driving task

System Human driver Human driver

Some driving modes

Partially

automated

2

Automated driving system 3V\VWHP′ PRQLWRUV WKH GULYLQJ environment

3 Conditional

Automation

the driving mode -specific performance by an automated driving system of all aspects of the

dynamic driving task with the expectation that the

human driver will respond appropriately to a request to

intervene System System Human driver

Some driving modes

Highly

automated

3

4 High Automation the driving mode -specific performance by an

automated driving system of all aspects of the dynamic driving task , even if a human driver does not

respond appropriately to a request to intervene

System System

System Some

driving modes

Fully automated

3/4

5

Full Automation the full-time performance by an automated driving

system of all aspects of the dynamic driving task under all roadway and environmental conditions that

can be managed by a human driver

System System System

All driving

modes

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TABLE 2 - ROLES OF HUMAN DRIVER AND SYSTEM BY LEVEL OF DRIVING AUTOMATION

Table 2 describes the various levels of driving automation, covering the full spectrum from no automation to full automation. The descriptions provided in column 2 indicate the role (if any) of a human driver in the dynamic driving task. The descriptions provided in column 3 indicate the role (if any) of the automated driving system in the dynamic driving task. These roles describe technical capability and not legality. As in Table 1, "system" refers to the driver assistance system, combination of driver assistance systems, or automated driving system, as appropriate.

Level of Driving

Automation

Role of Human Driver Role of System

HUMAN DRIVER MONITORS DRIVING ENVIRONMENT

Level 0 - No Automation x Monitors driving environment

x Executes the dynamic driving task

(steering, accelerating, braking) x No active automation (but may provide warnings)

Level 1 - Driver Assistance x Monitors driving environment

x Executes either longitudinal

(accelerating, braking) or lateral

(steering) dynamic driving task

x Constantly supervises dynamic driving

task executed by driver assistance

system

x Determines when activation or

deactivation of driver assistance

system is appropriate, except for

systems that automatically intervene in

an emergency

x Takes over immediately when required x Executes portions of the dynamic driving task not executed by the human driver (either longitudinal or lateral) when activated

x Can deactivate immediately with request for immediate takeover by the human driver

Level 2 - Partial Automation x Monitors driving environment

x Constantly supervises dynamic driving

task executed by partial automation

system

x Determines when activation or

deactivation of partial automation

system is appropriate, except for

systems that automatically intervene in

an emergency

x Takes over immediately when required

x Executes longitudinal (accelerating,

braking) and lateral (steering) dynamic

driving task when activated

x Can deactivate immediately with request

for immediate takeover by the human

driver

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AUTOMATED DRIVING SYSTEM MONITORS DRIVING ENVIRONMENT

Level 3 - Conditional Automation x Determines when activation of

automated driving system is

appropriate

x Takes over upon request within lead

time

x May request deactivation of

automated driving system

x Monitors driving environment when

activated

x Permits activation only under conditions

(use cases) for which it was designed

x Executes longitudinal (accelerating,

braking) and lateral (steering) portions of

the dynamic driving task when activated

x Deactivates only after requesting driver

takeover with a sufficient lead time

x May, under certain, limited

circumstances, transition to minimal risk

condition if human driver does not take

over

x May momentarily delay deactivation

when immediate human takeover could

compromise safety

Level 4 - High Automation x Determines when activation of

automated driving system is

appropriate

x Takes over within lead time, if

requested

x May request deactivation of

automated driving system

x Some applications in this category

may not entail a human driver. x Monitors driving environment when activated

x Permits activation only under conditions (use cases) for which it was designed

x Executes longitudinal (accelerating, braking) and lateral (steering) portions of the dynamic driving task when activated x Initiates deactivation when design conditions are no longer met

x Deactivates only after human driver takes over

x Transitions to minimal risk condition if human driver does not take over

x May momentarily delay deactivation when immediate human takeover could compromise safety

Level 5 - Full Automation x May activate automated driving

system

x May request deactivation of

automated driving system

x This category may not entail a human

driver. x Monitors driving environment when activated

x Executes longitudinal (accelerating, braking) and lateral (steering) portions of the dynamic driving task when activated

x Deactivates only after human driver takes over or vehicle reaches its destination

x Transitions to minimal risk condition as necessary if failure in the automated driving system occurs

x May momentarily delay deactivation when immediate human driver takeover could compromise safety

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TABLE 3 - SIMPLIFIED TO HIGHLIGHT ROLES OF HUMAN DRIVERS AND AUTOMATED DRIVING SYSTEM Table 3 mirrors Table 2, but focuses specifically on the relative roles of a human driver versus the system. As in Tables 1 and 2, "system" refers to the driver assistance system, combination of driver assistance systems, or automated driving system, as appropriate. The characteristics presented below represent minimum, rather than maximum capabilities, for each level of automation. For example, a particular conditional automated driving system might be capable of transitioning to a minimal risk condition in many but not all situations.

Level of Driving Automation Execution of

steering /

acceleration /

deceleration

Monitoring of

driving

environment

Transition time

between

human driver

and system?

Minimal risk

condition

capable at all

times?

Human driver

necessary

while system

is engaged?

Driving modes

of the

automated

driving system

HUMAN DRIVER MONITORS DRIVING ENVIRONMENT

Level 0 - No

Automation

Human driver Human driver n/a n/a Yes None

Level 1 ±Driver Assistance Human driver and

System

Human driver No No Yes Some

Level 2 -

Partial

Automation

System Human driver No No Yes Some AUTOMATED DRIVING SYSTEM MONITORS DRIVING ENVIRONMENT

Level 3 -

Conditional

Automation

System System Yes No Yes Some

Level 4 -

High

Automation

System System Yes Yes No Some

Level 5 ±

Full

Automation

System System Yes Yes No All

4. DEF I N I T I ONS

4.1 AUTOMATED DRIVING SYSTEM

The hardware and software that is collectively capable of performing all aspects of the dynamic driving task for a vehicle (whether part time or full time).

4.2 DR I VE

To operate a vehicle on a public or private roadway at any point at or between an origin and a destination, whether or not the vehicle is in motion.

4.3 DR I V I NG MODE

A type of driving scenario with characteristic dynamic driving task requirements (e.g., expressway merging, high speed cruising, low speed traffic jam, etc.).

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4.4 DYNAM I C DR I V I NG TASK

All of the real-time functions required to operate a vehicle in on-road traffic, excluding the selection of destinations and waypoints (i.e., navigation or route planning) and including without limitation:

x Object and event detection, recognition, and classification; x

Object and event response;

x Maneuver planning; x Steering, turning, lane keeping, and lane changing; x Acceleration and deceleration;

x

Enhancing conspicuity (lighting, signaling and gesturing, etc.).

4.5 HUMAN DR I VER

The person who drives a particular vehicle, and who, in a vehicle equipped with an automated driving system, exchanges the dynamic driving task with such a system as necessary during vehicle operation. 4.6 M I N I MAL R I SK COND I T I ON

A low risk motor vehicle operating condition to which an automated driving system automatically resorts upon either a system failure or a failure of a human driver to respond appropriately to a request to take over the dynamic driving task . NOTE: A minimal risk condition will vary according to the type and extent of a given failure. A minimal risk condition

could entail automatically bringing the vehicle to a stop, preferably outside of an active lane of traffic (assuming availability). 4.7 MON I TOR

The activities and/or automated routines that accomplish comprehensive object and event detection, recognition, classification, and response preparation, as needed to competently perform the dynamic driving task .

NOTE: When driving vehicles that are not equipped with automated driving systems , human drivers visually sample the

road scene sufficiently to competently perform the dynamic driving task , while also performing secondary tasks that require short periods of eyes-off-road time (e.g., adjusting cabin comfort settings, scanning road signs, tuning a radio, etc.). Thus, monitoring does not entail constant eyes-on-road time by the human driver . 4.8

MOTOR VEHICLE (and VEHICLE)

A vehicle driven or drawn by mechanical power and manufactured primarily for use on public streets, roads, and highways, but does not include a vehicle operated only on a rail line. [Source: 49 U.S.C. § 30102(a)(6)] 4.9

REQUEST TO INTERVENE

Notification by the automated driving system to a human driver that s/he should promptly begin or resume performance of the dynamic driving task . 4.10 TR I P

The traversal of an entire travel pathway by a vehicle IURP WKH PRPHQW LW LV WXUQHG 3RQ′ DW D SRLQW RI RULJLQ WR ZKHQ LW LV WXUQHG 3RII′ DW D ZD\SRLQW RU GHVWLQDWLRQ

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5. LEVELS OF DRIVING AUTOMATION

5.1 LEVEL 0 - NO AUTOMATION

The full-time performance by the human driver of all aspects of the dynamic driving task.

-

DR I VER ASS I STANCE

1

5.2 LEVEL

The part-time or driving mode-dependent execution by a driver assistance system of either steering or acceleration/deceleration with the expectation that the human driver performs all other aspects of the dynamic driving task.

5.3 LEVEL 2 - PARTIAL AUTOMATION

The part-time or driving mode-dependent execution by one or more driver assistance systems of both steering and acceleration/deceleration with the expectation that the human driver performs all other aspects of the dynamic driving task.

COND I T I ONAL AUTOMAT I ON

-

5.4 LEVEL

3

The part-time or driving mode-dependent performance by an automated driving system of all aspects of the dynamic driving task with the expectation that the human driver will respond appropriately to a request to intervene.

5.4.1 Notes

x Conditional automation requires a human driver to initiate an automated driving system at the appropriate point during a trip and requires a human driver to resume the dynamic driving task when s/he receives a request to intervene (e.g., due to a vehicle or system malfunction or a change in driving conditions that exceed the DXWRPDWHG GULYLQJ V\VWHP?V GULYLQJ mode-dependent capability).

x As a technical matter, a human driver need not monitor the DXWRPDWHG GULYLQJ V\VWHP?V performance while it is engaged, but must be prepared to resume the dynamic driving task when the automated driving system issues a request to intervene.

x A conditional automated driving system will alert (i.e., by issuing a request to intervene)the human driver of the need to resume the dynamic driving task with sufficient time for a typical human driver to respond appropriately. --`,,,``,`,`,,,,``,,`,`,,,``,`,`-`-`,,`,,`,`,,`---

x$Q 3DSSURSULDWH′ UHVSRQVH E\ D human driver to a request to intervene may vary depending upon immediate circumstances (e.g., steering, braking, or simply maintaining current input levels), but otherwise entails the timely, safe and correct performance of the dynamic driving task for the prevailing circumstances.

5.4.2 Examples

EXAMPLE: A vehicle equipped with an automated driving system capable of performing the complete dynamic driving task in low-speed traffic, such as in stop-and-go urban or freeway traffic.

5.5 LEVEL 4 - HIGH AUTOMATION

The part-time, driving mode-dependent, or geographically-restricted performance by an automated driving system of all aspects of the dynamic driving task, even if a human driver fails to respond appropriately to a request to intervene.

5.5.1 Notes

x High automation generally requires a human driver to engage an automated driving system at the appropriate point during a trip (e.g., a human driver may activate the automated driving system during a specific driving mode, such as freeway driving, for which the high automated driving system is designed).

Examples of exceptions to the general case:

- A high automation parking application for which a human driver is not present in the vehicle during maneuver.

the

- A high automation shuttle system that is geographically restricted to operation on a closed or

semi-closed campus (e.g., residential community, military base, etc.)

x As a technical matter, a human driver need not monitor the DXWRPDWHG GULYLQJ V\VWHP?V performance while it is engaged, but should in the general case be prepared to assume performance of the dynamic driving task when the automated driving system issues a request to intervene.

x A high automated driving system will alert a human driver several seconds in advance of the need to resume the dynamic driving task (i.e., by issuing a request to intervene); however, the automated driving system is capable of restoring the vehicle to a minimal risk condition automatically if a human driver fails to resume the dynamic driving task when prompted. This capability to automatically restore the vehicle to a minimal risk condition is the only difference between high automation and conditional automation, above.

5.5.2 Examples

EXAMPLE 1: A vehicle equipped with an automated driving system capable of performing the complete dynamic driving task during a valet parking operation (i.e., curb-to-door or vice versa) without any human agency or

monitoring. (Note: The presence of a human driver in the vehicle during the parking maneuver is not

required as a technical matter.)

EXAMPLE 2: A vehicle equipped with an automated driving system capable of performing the complete dynamic driving task during sustained operation on a motorway or freeway. (Note: The presence of a human driver in the

vehicle is required, as a technical matter, in order to perform the dynamic driving task before entering,

and after leaving, the motor way or freeway.)

EXAMPLE 3: A vehicle equipped with an automated driving system capable of performing the complete dynamic driving task while following a pre-defined route within a confined geographical area, such as a campus shuttle.

(Note: The presence of a human driver in the vehicle is not required, as a technical matter, while

completing the prescribed delivery route.)

5.6 FULL AUTOMATION (LEVEL 5)

The unconditional, full-time performance by an automated driving system of all aspects of the dynamic driving task under, at minimum, all roadway and environmental conditions that can be managed by a human driver, including the ability to automatically bring the motor vehicle into a minimal risk condition in the event of a critical vehicle or system failure, or other emergency event.

5.6.1 Notes

x As a technical matter, a human driver need not monitor the DXWRPDWHG GULYLQJ V\VWHP?V performance.

x When the automated driving system reaches the limits of its functional capabilities, it will restore the vehicle to a minimal risk condition automatically.

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5.6.2 Examples

EXAMPLE: A vehicle with an automated driving system that, once programmed with a destination, is capable of fully

performing the dynamic driving task throughout complete trips on public roadways, regardless of the starting and end points or intervening road, traffic, and weather conditions. 6. OTHER TERMS USED FOR HIGH OR FULL AUTOMATION 6.1

The following are common, but often confusing, vernacular terms for high or full automation of the dynamic driving task :

x Autonomous x Self-driving x Driverless x Unmanned x Robotic x Autonomated

7. ADD I T I ONAL D I SCUSS I ON

7.1 No automation, driver assistance, and partial automation

The three lower levels of driving automation are defined for the sake of taxonomical completeness. These levels of automation may feature certain driver assistance systems, including certain automatic emergency intervention systems, that operate with the expectation that the human driver monitors the driving environment. (I n contrast, the automated driving systems that are characteristic of the three upper levels of driving automation operate with the expectation that the human driver need not, and therefore will not, continuously monitor the driving environment.) 7.2

Conditional, high and full automation

Conditional and high automation are the same, except that the former may or may not include limited automated capability to bring the vehicle to a minimal risk condition , while the latter always includes minimal risk condition capability. Both conditional and high automation entail that the automated driving system performs the dynamic driving task normally performed by a human driver , but only when enabled by one, and only for a limited period of time and/or in a specified geographical location, driving mode , or during specific, finite maneuvers. By contrast, ull automation is capable of complete performance of the dynamic driving task throughout complete trips, and ± at minimum ± under all roadway and environmental conditions that can be managed by a human driver.

x During conditional automated driving , a human driver is present in the vehicle and is in a position to take over the

dynamic driving task within a reasonable period of time after being prompted by the automated driving system with a request to intervene , or when the human driver otherwise chooses to resume the dynamic driving task . x During high automated driving , the presence of a human driver in a position to assume the dynamic driving task is

not always necessary as a technical matter, depending upon the application in question. x During full automated driving , there is no need for a human driver to be present and in a position to assume the

dynamic driving task , because the automated driving system is capable of performing all aspects of the dynamic driving task , including restoring the motor vehicle to a minimal risk condition in the event of a critical vehicle or system malfunction, or other emergency event, such as a weather condition requiring evacuation or other evasive action.

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For example, as a technical matter, a high automated parking application that automatically un-parks a vehicle and presents it curb-side for human driver entry would not require the presence of a human driver in a position to assume the dynamic driving task during the prescribed maneuver, because the maneuver is designed to be executed before human occupancy and because high automation applications are always capable of restoring the motor vehicle to a minimal risk condition.

However, a high automation application that a human driver engages under limited access freeway operation to automatically follow a lead vehicle at a fixed distance does require the presence of a human driver in a position to assume the dynamic driving task when prompted by the automated driving system, regardless of minimal risk condition capability, because such driving mode-dependent automation relies on the presence of a human driver both to initiate the application, and to take over when the application is terminated (whether voluntarily by a human driver or automatically by the automated driving system).

For both conditional and high automation, a human driver is expected to take over the dynamic driving task when prompted by the automated driving system to do so. (Note: for certain high automation applications, such as an automated campus shuttle that has no human driver, this would not apply, and the system would not provide prompts.) The reasons for such prompts being issued may vary according to design intent, but at a minimum, such prompts would be expected in situations that exceed the operational limits of the automated driving system or in the event of a critical vehicle or system malfunction. If the automated driving system detects a condition that calls for a request to intervene, it will prompt the human driver to resume the dynamic driving task and provide an adequate transition time. For example: A conditional or high automated driving system activated in a traffic jam on a freeway detects an upcoming construction area and signals to the human driver that s/he should resume the dynamic driving task in several seconds.

In cases where immediate release of the dynamic driving task by the automated driving system could compromise vehicle performance, the system may delay its release of (i.e., more gradually relinquish) the dynamic driving task to ensure a smooth transition to a KXPDQ GULYHU?V resumption of the dynamic driving task. For example, if the vehicle is engaged in a tight turning maneuver, the automated driving system may not release steering control instantaneously, but instead do so gradually as the driver indicates through steering input that s/he is fully re-engaged in the dynamic driving task.

In the case of high automation, should a human driver fail to respond to a request to intervene by the automated driving system, it will automatically resort to a minimal risk condition by, for example, parking the vehicle on the road shoulder. Full automated driving systems may or may not include prompts for human drivers, depending upon design intent, but will in any case automatically restore the vehicle to a minimum risk condition when necessary (and with at least the level of performance that could be expected from a human driver under the same conditions).

The following are some examples of conditional or high automated driving modes:

x Automated parking: Parallel on-street or parking lot maneuvers performed without any real-time human driver input.

x Autopilot freeway: Combination of high speed lane keeping, adaptive cruise control (ACC), merging, passing, obstacle avoidance

x Autopilot neighborhood: Combination of slow speed lane keeping, ACC, merging, passing, obstacle avoidance x Autopilot traffic jam: In a traffic jam the vehicle maintains its headway and lateral lane position

As noted above, high automation also includes shuttles that operate without a human driver in limited geographic areas.

At the highest level of driving automation, full automation SURYLGHV WKH FDSDELOLW\ IRU D YHKLFOH WR 3GULYH LWVHOI′ ZLWKRXW WKH need for intervention or monitoring by a human driver throughout complete trips, and under all on-road and environmental conditions that could be managed by a human driver. )RU D YHKLFOH WR EH FRQVLGHUHG 3IXOO\ DXWRPDWHG ′ WKH automated driving system must perform the entire dynamic driving task between points of origin and destination determined by users. There may or may not be a human driver available and able to perform the dynamic driving task, and the automated driving system must be capable of returning the vehicle to a minimal risk condition automatically.

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Full automation represents the extreme end of the spectrum of automation in vehicle technology and forms the counterpart to no automation at the other end. There are technical challenges related to reliability and unique problems presented by operating vehicles equipped with automated driving systems on public roadways shared by vehicles without such systems, pedal cyclists and pedestrians. (I t should also be noted that there are legal and institutional challenges related to all levels of automated driving system technology that remain to be resolved.)

7.3 Comparison with BASt and NHTSA Automation Hierarchies

The levels of automation described in this document are fairly consistent with, but not identical to, the levels of automation proposed by the German Federal Highway Research I nstitute (BASt) and to those described by the National Highway Traffic Safety Administration (NHTSA) in its 33UHOLPLQDU\ 6WDWHPHQW RI 3ROLF\ &RQFHUQLQJ $XWRPDWHG 9HKLFOHV′ 0D\ 2013).

These SAE levels differ substantively from the BASt levels principally insofar as the latter omit the 5th level of driving automation characterized by trip-level and geographically unconstrained on-road automated driving (i.e., an automated vehicle capable of all on-road driving ± without geographical or modal limitation ± that can be legally performed by a human driver). As noted above, this highest level of automation was included herein for the sake of completeness. I t should also be noted that the SAE term conditional automation FRUUHVSRQGV WR WKH %$6W WHUP 3KLJKO\ DXWRPDWHG′ DQG WKDW the SAE term high automation FRUUHVSRQGV WR WKH %$6W WHUP 3IXOO\ DXWRPDWHG ′ 1RWZLWKVWDQGLQJ WKHVH GLIIHUHQFHV LQ terminology, the functional definitions for these BASt and SAE levels are the same.

:LWK UHJDUG WR WKH 1+76$?V GHILQHG OHYHOV RI DXWRPDWLRQ WKH PDLQ IXQFWLRQDO GL fference is WKDW WKH DJHQF\?V GHILQLWLRQV FRPSUHVV 6$( OHYHOV DQG LQWR 1+76$ OHYHO 1+76$?V GHILQLWLRQV IRU HDFK OHYHO DOVR FRQWDLQ QRUPDWLYH FRQWHQW intended to provide preliminary guidance to US State governments that have adopted, or are considering adopting, statutory and/or regulatory requirements for automated vehicles. By contrast, the definitions provided in this document are descriptive only, deliberately avoiding normative terms and statements, and are not intended to be treated as requirements.

The following is a summary table that illustrates the close functional alignment among the three sets of driving automation levels from SAE, BASt, and NHTSA. Those who are already familiar with these levels may find this chart useful when considering differences in the descriptive text provided for each level by the three organizations, as it highlights the fact that, notwithstanding these differences, for practical purposes the three sets of levels are much more alike than different.

TABLE 4 - APPROXIMATE ALIGNMENT AMONG SAE, BAST, AND NHTSA LEVELS/TERMS

In considering the differences between the SAE and NHTSA levels, it is helpful to bear in mind that 1+76$?V OHYHO straddles SAE levels 4- LQ D PDQQHU WKDW LV QRW DV VLPSOH DV %$6W?V GHFLVLRQ WR RPLW 3IXOO′ DXWRPDWLRQ )RU H[DPSOH certain automated driving systems WKDW DUH JHRJUDSKLFDOO\ RU HQYLURQPHQWDOO\ OLPLWHG DUH LQFOXGHG LQ 1+76$?V OHYHO rating because they do not require the presence of a human driver, while SAE level 5 excludes such systems, because they are not capable of delivering the same degree of on-road mobility as a conventional vehicle driven by a human.

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7.4 Driving vs. Dynamic Driving Task

Driving entails a variety of decisions and actions, which may or may not involve the vehicle being in motion or even being in an active lane of traffic. The dynamic driving task is that portion of driving that specifically entails operating a vehicle in an active lane of traffic when the vehicle is either in motion or imminently so.

The overall act of driving can be divided into three types of driver efforts: Strategical, Tactical, and Operational (Michon, 1985). Strategical effort involves trip planning, such as deciding where to go, how to travel, best routes to take, etc. Tactical effort involves maneuvering the vehicle in traffic during a trip, including deciding when and whether to overtake another vehicle or change lanes, selecting and maintaining an appropriate speed, checking mirrors, etc. Operational effort involves split-second reactions that can be considered pre-cognitive or innate, such as making micro-corrections to steering, braking and accelerating to maintain lane position in traffic or to avoid a sudden obstacle or event in the vehicle?V pathway.

The definition of dynamic driving task provided above (3.4) includes Tactical and Operational effort, but excludes Strategical effort.

The Object and Event detection, recognition, classification, and response form a continuum of activities often cited in the Driver Workload literature. However in the case of automated driving systems, this specifically also includes driving events associated with system actions (e.g., undiagnosed automation errors or automation state changes).

8. NOTES

I ndicia

8.1 Marginal

A change bar (l) located in the left margin is for the convenience of the user in locating areas where technical revisions, not editorial changes, have been made to the previous issue of this document. An (R) symbol to the left of the document title indicates a complete revision of the document, including technical revisions. Change bars and (R) are not used in original publications, nor in documents that contain editorial changes only.

PREPARED BY THE SAE ON-ROAD AUTOMATED VEHICLE STANDARDS COMMITTEE

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4、期间费用(营业费用、管理费用、财务费用)对照。全年吨费用平均575元,比去年同期的507元/吨,每吨增加68元,与去年同期对照增加支出合计979万元。 5、出口退税减少。出口产品退税率由13%降至5%,降低了8%,与原退税率对照,增加成本4738万元。 以上六项不利因素合计比去年同期增加投入42884万元,占销售收入的`24.09%,占当期投入投本的29.51%。加上企业所得税调整影响3967万元,合计影响46851万元。 (二)增利因素 合计增加收入42783万元,占销售收入的24.04%。 (三)综合分析 三、主要工作回顾总结 (一)把握形势,未雨绸缪,产销平衡。 根据年初原材料价格上涨势不可挡、人民币升值加快、出口退税减少的不利形势,我们认真调整了经营策略。 2、抓好供应环节。供应如何为企业挣钱?保证供应,质量好,买的贱。关键是扩大采购渠道,建立合理库存。

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流程。 5、需求经确认后,信息管理部将以此作为系统实现唯一依据,不接受非《信息系统 需求说明书》途径的其他任何需求信息。 6、需求变更,需求已确认进入系统实现阶段,如对需求进行进一步细化或进行较小 调整,信息管理部须在需求说明书中对各项内容进行更新,并对需求文档进行版 本管理控制。如需求发生重大变更则需以新的《信息系统新需求申请》流程进行 提报。 7、业务部门以《信息系统需求说明书》为主要依据进行验收。 五、附则 1、本规范由信息管理部起草,修改及解释权归信息管理部所有。 2、本规范由颁布之日起实施。 六、附件 报表类:信息系统报表类需求说明书.docx 功能类:信息系统功能类需求说明书.docx 配置类:信息系统配置类需求说明书.docx

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五、分级提交资料 根据不同级别系统,系统申请人需提交材料如下: 一级系统 完整有效的服务器资源申请表、系统负责人信息、系统服务商信息。 二级系统 完整有效的服务器资源申请表、系统负责人信息、系统服务商信息、系统应急方案。

三级系统 完整有效的服务器资源申请表、系统负责人信息、系统服务商信息、系统应急方案、系统恢复方案、系统容灾方案、系统安全防护方案。 以上资料需在系统上线前提供,如资料不齐或不对,运维工程师有权不提供运维服务,并将该系统停用,直到资料准备齐全,并审核通过。 六、分级运维服务 根据不同级别系统,运维服务标准如下: 一级系统 提供初级运维服务,主要包括:服务器硬件维护服务(用户项目上自行购买的硬件,只负责运行维护,不负责硬件维修),服务器系统维护服务(仅限操作系统,不含应用环境维护),网络运行维护服务,系统账号维护服务,数据备份服务(可选),通知服务。 二级系统 提供中级运维服务,主要包括:服务器硬件维护服务(用户项目上自行购买的硬件,只负责运行维护,不负责硬件维修),服务器系统维护服务(仅限操作系统,不含应用环境维护),网络运行维护服务,系统账号维护服务,数据备份服务,通知服务,漏洞修复服务。 三级系统 提供高级运维服务,主要包括:服务器硬件维护服务(用户项目上自行购买的硬件,只负责运行维护,不负责硬件维修),服务器系统维护服务(仅限操作系统,不含应用环境维护),网络运行维护服务,系统账号维护服务,数据备份服务,通知服务,漏洞修复服务,系统恢复技术支持服务,容灾技术支持服务,安全防护服务。 七、备注

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并以重长风化77号文《关于开展安全标准化工作的通知》下发厂属各单位,分解任务、落实责任,分步骤有序实施。厂领导除在企业工作例会、安委会上安排安全标准化工作并不定期检查进展情况外,还于xx年6月20日,召开安全标准化工作专题会议,对照安全标准化工作进展情况,研究落实。 2、将安全标准化工作与增资方案挂钩,并与纳入安全责任制考核,调动了各级的积极性和责任感。在总结安全标准化建设取得经验的基础上,xx年进一步加大了推进力度,制定了安全标准化验收达标奖励办法,大大鼓舞了各单位安全标准化建设热情。特别是各级领导各级管理人员积极推动安全标准化管理和作业,起到模范带头作用,并发动企业全体职工积极参与,使这项工作全面、全员、全方位和全过程地健康开展起来。保证各项工作安全、规范、有序、高效进行,说到的就必须做到,做到的就必须有记录,不走过场、不做表面文章,务求取得实效。 二、强化基层基础工作,规范安全管理 1、对照《规范》及其他法律法规的要求,对企业安全规章制度进行了修订、完善。补充完善了《安全生产责任制》、《事故管理制度》、《安全投入和安全措施项目管理制度》、《厂区施工和检修管理制度》,修订了原《光气及光气化产品生产安全管理制度》、《仓库、罐区安全管理制度》、《码头装卸危险化学品安全作业许可制度(试行)》、《危化品码头安全管理制度》,新制订了《特种作业人员管理制度》、《关键装置及重点部位安全管理制度》、《生产设施拆除和报废安全管理制

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