Paper：自動駕駛領域SAE标準之《道路機動車輛駕駛自動化系統相關術語的分類和定義》官方英文原文翻譯與解讀(一)

自動駕駛領域SAE标準之《道路機動車輛駕駛自動化系統相關術語的分類和定義》官方英文原文翻譯與解讀

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SAE官網：

https://www.sae.org/standards/

J3016™  SEP2016

釋出2014 - 01

修改2016 - 09

取代J3016 JAN2014

RATIONALE 基本原理

This Recommended Practice provides a taxonomy describing the full range of levels of driving automation in on-road motor vehicles and includes functional definitions for advanced levels of driving automation and related terms and definitions. This Recommended Practice does not provide specifications, or otherwise impose requirements on, driving automation systems. Standardizing levels of driving automation and supporting terms serves several purposes, including:

Clarifying the role of the (human) driver, if any, during driving automation system engagement.

Answering questions of scope when it comes to developing laws, policies, regulations, and standards.

Providing a useful framework for driving automation specifications and technical requirements.

Providing clarity and stability in communications on the topic of driving automation, as well as a useful short-hand that saves considerable time and effort.

This document has been developed according to the following guiding principles, namely, it should:

Be descriptive and informative rather than normative.

Provide functional definitions.

Be consistent with current industry practice.

Be consistent with prior art to the extent practicable.

Be useful across disciplines, including engineering, law, media, public discourse.

Be clear and cogent and, as such, it should avoid or define ambiguous terms.

The current revision contains updates that reflect lessons learned from various stakeholder discussions, as well as from research projects conducted in Europe and the United States by the AdaptIVe Consortium and by the Crash Avoidance Metrics Partnership (CAMP) Automated Vehicle Research (AVR) Consortium, respectively. 這個推薦的實踐提供了一個分類，描述在道路上的機動車輛的駕駛自動化的全部水準，并包括駕駛自動化的進階水準和相關術語和定義的功能定義。本推薦實踐不提供規範，也不要求驅動自動化系統。标準化駕駛自動化水準和支援術語有以下幾個目的，包括:

在駕駛自動化系統參與過程中，明确(人工)司機(如果有)的角色。

在制定法律、政策、法規和标準時，回答有關範圍的問題。

為驅動自動化規範和技術要求提供一個有用的架構。

提供關于駕駛自動化主題的清晰和穩定的溝通，以及節省大量時間和精力的有用速記。

本檔案是根據以下指導原則制定的，即:

要有描述性和知識性，而不是規範性。

提供功能定義。

與目前行業實踐保持一緻。

在可行範圍内與現有技術保持一緻。

适用于工程、法律、媒體、公共話語等學科。

文章要清晰而有說服力，同樣地，文章應該避免或定義含糊不清的術語。

最新修訂内容反映了從各利益相關方讨論中獲得的經驗教訓，以及自适應聯盟(AdaptIVe Consortium)和自動車輛研究(AVR)聯盟分别在歐洲和美國開展的研究項目。

These revisions, while substantial, preserve the original SAE J3016:JAN2014 level names, numbers, and functional distinctions, as well as the supporting terms. However, this version of J3016:

Clarifies and rationalizes taxonomical differentiator(s) for lower levels (levels 0-2).

Clarifies the scope of the J3016 driving automation taxonomy (i.e., explains to what it does and does not apply).

Modifies existing, and adds new, supporting terms and definitions.

Adds more rationale, examples, and explanatory text throughout.

Italicized terms used in this Recommended Practice are also defined herein. 這些修訂雖然内容重大，但保留了SAE J3016: 2014年1月的級别名稱、編号、功能差別以及支援條款。然而，這個版本的J3016:

澄清和合理化較低級别(0-2級)的分類區分器。

闡明J3016驅動自動化分類的範圍(即，解釋它适用什麼和不适用什麼)。

修改現有的，并添加新的，支援的術語和定義。

在整個過程中增加更多的理論基礎、例子和解釋性文本。

本推薦慣例中使用的術語斜體也在此定義。

1. SCOPE 範圍

This Recommended Practice provides a taxonomy for motor vehicle driving automation systems that perform part or all of the dynamic driving task (DDT) on a sustained basis and that range in level from no driving automation (level 0) to full driving automation (level 5). It provides detailed definitions for these six levels of driving automation in the context of motor vehicles (hereafter also referred to as “vehicle” or “vehicles”) and their operation on roadways. These level definitions, along with additional supporting terms and definitions provided herein, can be used to describe the full range of driving automation features equipped on motor vehicles in a functionally consistent and coherent manner. “On-road” refers to publicly accessible roadways (including parking areas and private campuses that permit public access) that collectively serve users of vehicles of all classes and driving automation levels (including no driving automation), as well as motorcyclists, pedal cyclists, and pedestrians.

The levels apply to the driving automation feature(s) that are engaged in any given instance of on-road operation of an equipped vehicle. As such, although a given vehicle may be equipped with a driving automation system that is capable of delivering multiple driving automation features that perform at different levels, the level of driving automation exhibited in any given instance is determined by the feature(s) that are engaged.

This document also refers to three primary actors in driving: the (human) driver, the driving automation system, and other vehicle systems and components. These other vehicle systems (or the vehicle in general terms) do not include the driving automation system in this model, even though as a practical matter a driving automation system may actually share hardware and software components with other vehicle systems, such as a processing module(s) or operating code. 這個推薦的做法提供了一個分類法機動車駕駛自動化系統執行部分或全部的動态駕駛任務(DDT)持續和水準不一,從沒有駕駛自動化(0級)完全自動化(要求等級5)。它提供了詳細的定義為這六個級别的駕駛自動化的機動車(以下也稱為“汽車”或“車輛”)和他們的經營道路。這些級别定義，以及本文提供的其他支援術語和定義，可以用來描述以功能一緻和連貫的方式裝備在機動車輛上的駕駛自動化功能的全系列。“道路上”是指為各類車輛和駕駛自動化等級(包括無駕駛自動化)以及機車、自行車和行人服務的公共通道(包括停車場和允許公衆進入的私人校園)。

這些級别适用于駕駛自動駕駛功能(s)，參與任何給定執行個體的道路上操作的裝備車輛。是以，盡管給定車輛可能配備了能夠提供多種不同級别的駕駛自動化功能的駕駛自動化系統，但在任何給定情況下顯示的駕駛自動化水準取決于所涉及的功能。

本文檔還提到了駕駛中的三個主要角色:(人)駕駛員、駕駛自動化系統和其他車輛系統和部件。這些其他車輛系統(或車輛統稱)不包括駕駛自動化系統在這個模型中，即使作為一個實際問題，駕駛自動化系統實際上可能與其他車輛系統共享硬體和軟體元件，如處理子產品或操作代碼。

The levels of driving automation are defined by reference to the specific role played by each of the three primary actors in performance of the DDT. “Role” in this context refers to the expected role of a given primary actor, based on the design of the driving automation system in question and not necessarily to the actual performance of a given primary actor. For example, a driver who fails to monitor the roadway during engagement of a level 1 adaptive cruise control (ACC) system still has the role of driver, even while s/he is neglecting it.

Active safety systems, such as electronic stability control and automated emergency braking, and certain types of driver assistance systems, such as lane keeping assistance, are excluded from the scope of this driving automation taxonomy because they do not perform part or all of the DDT on a sustained basis and, rather, merely provide momentary intervention during potentially hazardous situations. Due to the momentary nature of the actions of active safety systems, their intervention does not change or eliminate the role of the driver in performing part or all of the DDT, and thus are not considered to be driving automation.

It should, however, be noted that crash avoidance features, including intervention-type active safety systems, may be included in vehicles equipped with driving automation systems at any level. For ADS-equipped vehicles (i.e., levels 3-5) that perform the complete DDT, crash avoidance capability is part of ADS functionality. 駕駛自動化的水準是根據三個主要參與者在執行DDT時所扮演的具體角色來定義的。這裡的“角色”指的是給定的主要參與者的預期角色，基于所讨論的驅動自動化系統的設計，而不一定是給定的主要參與者的實際性能。例如，在使用1級自适應巡航控制(ACC)系統時，駕駛員未能監控路面情況，即使他/她忽視了這一點，他/她仍然扮演着駕駛員的角色。

主動安全系統,如電子穩定控制和自動緊急制動,和某些類型的駕駛員輔助系統,如車道保持輔助,被排除在這個駕駛自動化分類的範圍,因為他們不執行部分或全部的DDT在持續的基礎上,相反,隻是在有潛在危險的情況下提供的幹預。由于主動安全系統行為的短暫性，它們的幹預不會改變或消除駕駛員在執行部分或全部DDT的作用，是以不被認為是駕駛自動化。

然而，應該注意的是，防撞功能，包括幹預型主動安全系統，可能包括在任何水準上配備駕駛自動化系統的車輛。對于裝備了ADS的車輛(如3-5級)，執行完整的DDT，碰撞躲避能力是ADS功能的一部分。

2. REFERENCES  參考文獻

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.

2.1 Applicable Documents

J670 Vehicle Dynamics Terminology (J670:JAN2008).

J3063 Active Safety Systems Terms & Definitions (J3063:NOV2015).

49 U.S.C. § 30102(a)(6) (definition of motor vehicle).

Gasser, Tom et al. “Legal consequences of an increase in vehicle automation”, July 23, 2013, available at

http://bast.opus.hbz-nrw.de/volltexte/2013/723/pdf/Legal_consequences_of_an_increase_in_vehicle_automation.pdf.

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.

Crash Avoidance Metrics Partnership – Automated Vehicle Research Consortium, “Automated Vehicle Research for Enhanced Safety – Final Report,” (in publication).

National Highway Traffic Safety Administration. “Preliminary Statement of Policy Concerning Automated Vehicles,”, May 30, 2013, available at

http://www.nhtsa.gov/About+NHTSA/Press+Releases/U.S.+Department+of+Transportation+Releases+

Policy+on+Automated+Vehicle+Development.

Smith, Bryant Walker. Engineers and Lawyers Should Speak the Same Robot Language, in ROBOT LAW (2015), available at

https://newlypossible.org.

在本規範規定的範圍内，下列出版物構成本規範的一部分。除非另有說明，否則應采用最新一期的SAE出版物。

2.1适用的檔案

J670車輛動力學術語(J670: 2008年1月)。

主動安全系統術語和定義(J3063: 2015年11月)。

49 U.S.C.§30102(a)(6)(機動車的定義)。

Gasser, Tom等人，“汽車自動化程度提高的法律後果”，2013年7月23日，

http://bast.opus.hbz-nrw.de/volltexte/2013/723/pdf/Legal_consequences_of_an_increase_in_vehicle_automation.pdf

。

(J.A。1985。對駕駛員行為模型的批判觀點:我們知道什麼，我們應該做什麼?L. Evans & R. C. Schwing(編)。人類行為與交通安全(第485-520頁)。紐約:全會出版社，1985年。

碰撞規避度量夥伴關系-自動車輛研究聯盟，“提高安全性的自動車輛研究-最終報告”(已出版)。

國家公路交通安全管理局。“關于自動駕駛汽車政策的初步聲明”，2013年5月30日，可在

政策+on+自動駕駛+車輛+發展。

史密斯,科比沃克。《機器人法》(2015)中，工程師和律師應該使用相同的機器人語言，詳見

https://newlypossible.org

3. DEFINITIONS  定義

3.1 ACTIVE SAFETY SYSTEM (SAE J3063:NOV2015) 主動安全系統(SAE J3063: 2015年11月)

Active safety systems are vehicle systems that sense and monitor conditions inside and outside the vehicle for the purpose of identifying perceived present and potential dangers to the vehicle, occupants, and/or other road users, and automatically intervene to help avoid or mitigate potential collisions via various methods, including alerts to the driver, vehicle system adjustments, and/or active control of the vehicle subsystems (brakes, throttle, suspension, etc.).

NOTE: For purposes of this report, systems that meet the definition of active safety systems are considered to have a design purpose that is primarily focused on improving safety rather than comfort, convenience or general driver assistance. Active safety systems warn or intervene during a high risk event or maneuver. 主動安全系統是車輛系統和監控條件下,内部和外部的車輛為目的的确定感覺車輛現在和潛在的危險,人,和/或其他道路使用者,并自動進行幹預,通過各種方法幫助避免或減輕潛在的碰撞,包括提醒司機,車輛系統調整,和/或車輛的主動控制子系統(刹車,油門、懸架等)。

注:本報告認為，符合主動安全系統定義的系統的設計目的主要是提高安全性，而不是舒适性、便利性或一般的駕駛輔助。主動安全系統在高風險事件或機動時發出警告或進行幹預。

3.2 AUTOMATED DRIVING SYSTEM (ADS)  自動駕駛系統(ADS)

The hardware and software that are collectively capable of performing the entire DDT on a sustained basis, regardless of whether it is limited to a specific operational design domain (ODD); this term is used specifically to describe a level 3, 4, or 5 driving automation system.

NOTE: In contrast to ADS, the generic term “driving automation system” (see 3.5) refers to any level 1-5 system or feature that performs part or all of the DDT on a sustained basis. Given the similarity between the generic term, “driving automation system,” and the level 3-5-specific term, “Automated Driving System,” the latter term should be capitalized when spelled out and reduced to its acronym, ADS, as much as possible, while the former term should not be.

Downloaded from SAE International by Lin Liu, Thursday, November 24, 2016 能夠持續執行整個DDT的硬體和軟體，而不管是否被限制在特定的操作設計領域(ODD);這個術語專門用來描述3級、4級或5級駕駛自動化系統。

注:與ADS不同，通用術語“駕駛自動化系統”(見3.5)是指任何1-5級系統或功能，可持續執行部分或全部的DDT。考慮到通用術語“駕駛自動化系統”和3-5級專用術語“自動駕駛系統”之間的相似性，後者在拼寫時應大寫，并盡可能簡化為其首字母縮寫ADS，而前者則不應如此。

2016年11月24日(星期四)，劉林從SAE International下載下傳

3.3 ADS-DEDICATED VEHICLE (ADS-DV)  ADS-DEDICATED車輛(ADS-DV)

A vehicle designed to be operated exclusively by a level 4 or level 5 ADS for all trips.

NOTE 1: An ADS-DV is a truly “driverless” vehicle. However, the term “driverless vehicle” is not used herein because it has been, and continues to be, widely misused to refer to any vehicle equipped with a driving automation system, even if that system is not capable of always performing the entire DDT and thus involves a (human) driver for part of a given trip. This is the only category of ADS-operated vehicle that requires neither a conventional nor remote driver during routine operation.

NOTE 2: An ADS-DV might be designed without user interfaces, such as braking, accelerating, steering, and transmission gear selection input devices designed to be operable by a human driver.

NOTE 3: A level 4 ADS-DV by design does not operate outside of its ODD (subject to note 4 below).

NOTE 4: ADS-DVs might be operated temporarily by a conventional or remote driver: 1) to manage transient deviations from the ODD, 2) to address a system failure or 3) while in a marshalling yard before being dispatched.

EXAMPLE 1: A level 4 ADS-DV designed to operate exclusively within a corporate campus where it picks up and discharges passengers along a specific route specified by the ADS-DV dispatcher.

EXAMPLE 2: A level 4 ADS-DV designed to operate exclusively within a geographically prescribed central business district where it delivers parts and supplies using roads (but not necessarily routes) specified by the ADS-DV dispatcher.

EXAMPLE 3: A level 5 ADS-DV capable of operating on all roads that are navigable by a human driver. The user simply inputs a destination, and the ADS-DV automatically navigates to that destination. 一種專為4級或5級ADS設計的車輛。

注1:ADS-DV是真正的“無人駕駛”車輛。然而,此處使用的術語“無人駕駛車輛”不是因為它,并繼續,廣泛濫用指任何車輛配備駕駛自動化系統,即使這系統不能夠總是執行整個DDT,是以涉及到(人類)驅動程式給定行程的一部分。這是唯一一類在日常操作中既不需要傳統駕駛員也不需要遠端駕駛員的ads操作車輛。

注2:ADS-DV的設計可能沒有使用者界面，如制動、加速、轉向和傳動齒輪選擇輸入裝置設計為可由人類駕駛員操作。

注3:4級ADS-DV的設計不能在奇數之外運作(參照下面的注釋4)。

注4:ADS-DVs可能由傳統或遠端驅動程式臨時操作:1)管理臨時偏差，2)處理系統故障，或3)排程前在編組場中。

例1:一個4級ADS-DV專門設計在公司園區内運作，它沿着ADS-DV排程員指定的特定路線載客和卸貨。

例2:4級ADS-DV專門設計在地理規定的中央商務區内運作，通過ADS-DV排程員指定的道路(但不一定是路線)運送部件和供應品。

例子3:一個5級ADS-DV能夠在所有道路上運作，由人類駕駛員導航。使用者隻需輸入一個目的地，ADS-DV就會自動導航到該目的地。

3.4 DRIVING AUTOMATION  駕駛自動化

The performance of part or all of the DDT on a sustained basis. The performance of part or all of the DDT on a sustained basis.

3.5 DRIVING AUTOMATION SYSTEM or TECHNOLOGY  驅動自動化系統或技術

The hardware and software that are collectively capable of performing part or all of the DDT on a sustained basis; this term is used generically to describe any system capable of level 1-5 driving automation.

NOTE: In contrast to this generic term for any level 1-5 system, the specific term for a level 3-5 system is “Automated Driving System (ADS).” Given the similarity between the generic term, “driving automation system,” and the level 3-5-specific term, “Automated Driving System,” the latter term should be capitalized when spelled out and reduced to its acronym, ADS, as much as possible, while the former term should not be. (See 3.2) 能夠持續執行部分或全部DDT的硬體和軟體;這個術語一般用于描述任何能夠達到1-5級駕駛自動化的系統。

注:與通用的1-5級系統不同，3-5級系統的具體術語是“自動駕駛系統(ADS)”。鑒于通用術語“駕駛自動化系統”(driving automation system)和3-5級專用術語“自動駕駛系統”(Automated driving system)之間的相似性，後者在拼出來時應該大寫，并盡可能縮寫成ADS，而前者則不應該這樣。(見3.2)

3.6 DRIVING AUTOMATION SYSTEM] FEATURE or APPLICATION  驅動自動化系統特點或應用

A driving automation system’s design-specific functionality at a specific level of driving automation within a particular ODD.

NOTE 1: A given driving automation system may have multiple features, each associated with a particular level of driving automation and ODD.

NOTE 2: Each feature satisfies a usage specification.

NOTE 3: Features may be referred to by generic names (e.g., automated parking) or by proprietary names.

EXAMPLE 1: A level 3 ADS feature that performs the DDT, excluding DDT fallback, in high-volume traffic on fully access-controlled freeways.

EXAMPLE 2: A level 4 ADS feature that performs the DDT, including DDT fallback, in a specified geo-fenced urban center. 一個驅動自動化系統的設計特定的功能，在一個特定的奇内驅動自動化的特定級别。

注1:一個給定的駕駛自動化系統可能有多個特征，每個特征與一個特定的駕駛自動化水準和奇數相關聯。

注2:每個特性都滿足一個使用規範。

注3:功能可以用通用名稱(如自動停車)或專有名稱來指代。

例子1:在完全控制通路的高速公路上的高流量交通中，3級廣告功能執行DDT(不包括DDT撤退)。

例子2:在特定的地理圍欄城市中心，4級ADS功能執行DDT，包括DDT撤退。