ISO/SAE PAS 22736:2021
Taxonomy and definitions for terms related to driving automation systems for on-road motor vehicles
This document describes [motor] vehicle driving automation systems that perform part or all of the dynamic driving task (DDT) on a sustained basis. It provides a taxonomy with detailed definitions for six levels of driving automation, ranging from no driving automation (Level 0) to full driving automation (Level 5), in the context of [motor] vehicles (hereafter also referred to as “vehicle” or “vehicles”) and their operation on roadways:
Level 0: No Driving Automation
Level 1: Driver Assistance
Level 2: Partial Driving Automation
Level 3: Conditional Driving Automation
Level 4: High Driving Automation
Level 5: Full Driving Automation
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 all road users, including cyclists, pedestrians, and users of vehicles with and without driving automation features.
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) user, the driving automation system, and other vehicle systems and components. These other vehicle systems and components (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.
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 and/or DDT fallback. “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 (ESC) and automatic emergency braking (AEB), and certain types of driver assistance systems, such as lane keeping assistance (LKA), 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, but rather 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, even though they perform automated functions. In addition, systems that inform, alert, or warn the driver about hazards in the driving en...
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22736_PAS (1)
C073766e
1. SCOPE
2. REFERENCES
2.1 Applicable Documents
2.1.1 SAE Publications
2.1.2 ANSI Accredited Publications
2.1.3 Other Publications
2.2 List of Abbreviations
3. DEFINITIONS
3.1 ACTIVE SAFETY SYSTEM (SAE J3063)
3.2 AUTOMATED DRIVING SYSTEM (ADS)
3.3 [DRIVERLESS OPERATION] DISPATCHING ENTITY
3.4 DISPATCH [IN DRIVERLESS OPERATION]
3.5 DRIVING AUTOMATION
3.6 DRIVING AUTOMATION SYSTEM OR TECHNOLOGY
3.7 [DRIVING AUTOMATION SYSTEM] FEATURE
3.7.1 MANEUVER-BASED FEATURE
3.7.2 SUB-TRIP FEATURE
3.7.3 FULL-TRIP FEATURE
Figure 1 — Examples of driving automation system features/types that could be available during a given trip
3.8 DRIVER SUPPORT [DRIVING AUTOMATION SYSTEM] FEATURE
3.9 DRIVERLESS OPERATION [OF AN ADS-EQUIPPED VEHICLE]
3.10 DYNAMIC DRIVING TASK (DDT)
Figure 2 — Schematic (not a control diagram) view of driving task showing DDT portion
3.11 FAILURE MITIGATION STRATEGY
3.12 [DYNAMIC DRIVING TASK (DDT)] FALLBACK
Figure 3
Figure 4
Figure 5
Figure 6
Figure 7
Figure 8
3.13 FLEET OPERATIONS [FUNCTIONS]
3.14 LATERAL VEHICLE MOTION CONTROL
3.15 LONGITUDINAL VEHICLE MOTION CONTROL
Figure 9 - Diagram showing vehicle axes of motion (SAE J670)
3.16 MINIMAL RISK CONDITION
3.17 [DDT PERFORMANCE-RELEVANT] SYSTEM FAILURE
3.18 MONITOR
3.18.1 MONITOR THE USER
3.18.2 MONITOR THE DRIVING ENVIRONMENT
3.18.3 MONITOR VEHICLE PERFORMANCE [FOR DDT PERFORMANCE-RELEVANT SYSTEM FAILURES]
3.18.4 MONITOR DRIVING AUTOMATION SYSTEM PERFORMANCE
3.19 OBJECT AND EVENT DETECTION AND RESPONSE (OEDR)
3.20 OPERATE [A MOTOR VEHICLE]
3.21 OPERATIONAL DESIGN DOMAIN (ODD)
3.22 RECEPTIVITY [OF THE USER]
3.23 REMOTE ASSISTANCE
3.24 REMOTE DRIVING
3.25 REQUEST TO INTERVENE
3.26 ROUTINE/NORMAL [ADS] OPERATION
3.27 SUPERVISE [DRIVING AUTOMATION SYSTEM PERFORMANCE]
3.28 SUSTAINED [OPERATION OF A VEHICLE]
3.29 TRIP
3.30 USAGE SPECIFICATION
3.31 [HUMAN] USER
3.31.1 [HUMAN] DRIVER
3.31.1.1 IN-VEHICLE DRIVER
3.31.1.2 REMOTE DRIVER
3.31.2 PASSENGER
3.31.3 [DDT] FALLBACK-READY USER
3.31.3.1 IN-VEHICLE FALLBACK-READY USER
3.31.3.2 REMOTE FALLBACK-READY USER
3.31.4 DRIVERLESS OPERATION DISPATCHER
3.31.5 REMOTE ASSISTANT
3.32 [MOTOR] VEHICLE
3.32.1 CONVENTIONAL VEHICLE
3.32.2 [ADS-EQUIPPED] DUAL-MODE VEHICLE
3.32.3 ADS-DEDICATED VEHICLE (ADS-DV)
4. TAXONOMY OF DRIVING AUTOMATION
Table 1 — Summary of levels of driving automation
Table 1 — Summary of levels of driving automation (continued)
Figure 10 — Simplified logic flow diagram for assigning driving automation level to a feature
Table 2 — Roles of human user and driving automation system by level of driving automation
Table 3 — User roles while a driving automation system is engaged
5. LEVELS OR CATEGORIES OF DRIVING AUTOMATION
5.1 Level or Category 0 - No Driving Automation
5.2 Level or Category 1 - Driver Assistance
5.3 Level or Category 2 - Partial Driving Automation
5.4 Level or Category 3 - Conditional Driving Automation
5.5 Level or Category 4 - High Driving Automation
5.6 Level or Category 5 - Full Driving Automation
6. SIGNIFICANCE OF OPERATIONAL DESIGN DOMAIN (ODD)
Figure 11 — ODD relative to driving automation levels
Figure 12 — ODD relative to driving automation levels
7. DEPRECATED TERMS
7.1 Autonomous, Driving Modes(s), Self-Driving, Unmanned, Robotic
7.1.1 Autonomous
7.1.2 Driving Mode(s)
7.1.3 Self-Driving
7.1.4 Unmanned
7.1.5 Robotic
7.2 Automated or Autonomous Vehicle
7.3 Control
8. ADDITIONAL DISCUSSION
8.1 This document is not a specification and imposes no requirements.
8.2 Levels are Assigned, Rather than Measured, and Reflect the Design Intent for the Driving Automation System Feature as Defined by its Manufacturer
C073766e
8.3 Level Assignments are Nominal, Rather than Ordinal, and are Never Fractional
8.4 Levels are Mutually Exclusive
C073766e
8.5 DDT Performance, Fallback Performance, and Minimal Risk Condition Achievement are Separate Functions
8.6 DDT Fallback versus Failure Mitigation Strategy
Figure 13 — Use case sequence for a Level 3 feature showing ADS engaged, occurrence of a failure or out-of-ODD condition, and the fallback-ready user performing the fallback, or, if the fallback-ready user fails to do so, a failure mitigation strategy...
Figure 14 — Use case sequence at Level 4 showing ADS engaged, a catastrophic event (e.g., complete power failure) and the system achieving a minimal risk condition (Note: Dashed lines represent failure mitigation strategy.)
8.7 Level 5 “Full Driving Automation” is the Inverse Analog of Level 0 “No Driving Automation”
8.8 Practical Considerations Regarding Level 5
8.9 User Request to Perform the DDT when a Level 3, 4, or 5 ADS is Engaged
8.10 Possible Automation of Some Strategic Aspects of Driving
8.11 Driving versus DDT
8.12 Crash Avoidance Features Found on Some Conventional Vehicles Designed for Human Operation are Subsumed by an ADS
8.13 Placing this Document in the Broader Context of Driver Assistance, Driving Automation, and Active Safety Features
8.14 Comparison of SAE J3016 Driving Automation Levels with BASt Levels
9. NOTES
9.1 Revision Indicator
22736_PAS (1)
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22736_PAS (1)
C073766e
1. SCOPE
2. REFERENCES
2.1 Applicable Documents
2.1.1 SAE Publications
2.1.2 ANSI Accredited Publications
2.1.3 Other Publications
2.2 List of Abbreviations
3. DEFINITIONS
3.1 ACTIVE SAFETY SYSTEM (SAE J3063)
3.2 AUTOMATED DRIVING SYSTEM (ADS)
3.3 [DRIVERLESS OPERATION] DISPATCHING ENTITY
3.4 DISPATCH [IN DRIVERLESS OPERATION]
3.5 DRIVING AUTOMATION
3.6 DRIVING AUTOMATION SYSTEM OR TECHNOLOGY
3.7 [DRIVING AUTOMATION SYSTEM] FEATURE
3.7.1 MANEUVER-BASED FEATURE
3.7.2 SUB-TRIP FEATURE
3.7.3 FULL-TRIP FEATURE
Figure 1 — Examples of driving automation system features/types that could be available during a given trip
3.8 DRIVER SUPPORT [DRIVING AUTOMATION SYSTEM] FEATURE
3.9 DRIVERLESS OPERATION [OF AN ADS-EQUIPPED VEHICLE]
3.10 DYNAMIC DRIVING TASK (DDT)
Figure 2 — Schematic (not a control diagram) view of driving task showing DDT portion
3.11 FAILURE MITIGATION STRATEGY
3.12 [DYNAMIC DRIVING TASK (DDT)] FALLBACK
Figure 3
Figure 4
Figure 5
Figure 6
Figure 7
Figure 8
3.13 FLEET OPERATIONS [FUNCTIONS]
3.14 LATERAL VEHICLE MOTION CONTROL
3.15 LONGITUDINAL VEHICLE MOTION CONTROL
Figure 9 - Diagram showing vehicle axes of motion (SAE J670)
3.16 MINIMAL RISK CONDITION
3.17 [DDT PERFORMANCE-RELEVANT] SYSTEM FAILURE
3.18 MONITOR
3.18.1 MONITOR THE USER
3.18.2 MONITOR THE DRIVING ENVIRONMENT
3.18.3 MONITOR VEHICLE PERFORMANCE [FOR DDT PERFORMANCE-RELEVANT SYSTEM FAILURES]
3.18.4 MONITOR DRIVING AUTOMATION SYSTEM PERFORMANCE
3.19 OBJECT AND EVENT DETECTION AND RESPONSE (OEDR)
3.20 OPERATE [A MOTOR VEHICLE]
3.21 OPERATIONAL DESIGN DOMAIN (ODD)
3.22 RECEPTIVITY [OF THE USER]
3.23 REMOTE ASSISTANCE
3.24 REMOTE DRIVING
3.25 REQUEST TO INTERVENE
3.26 ROUTINE/NORMAL [ADS] OPERATION
3.27 SUPERVISE [DRIVING AUTOMATION SYSTEM PERFORMANCE]
3.28 SUSTAINED [OPERATION OF A VEHICLE]
3.29 TRIP
3.30 USAGE SPECIFICATION
3.31 [HUMAN] USER
3.31.1 [HUMAN] DRIVER
3.31.1.1 IN-VEHICLE DRIVER
3.31.1.2 REMOTE DRIVER
3.31.2 PASSENGER
3.31.3 [DDT] FALLBACK-READY USER
3.31.3.1 IN-VEHICLE FALLBACK-READY USER
3.31.3.2 REMOTE FALLBACK-READY USER
3.31.4 DRIVERLESS OPERATION DISPATCHER
3.31.5 REMOTE ASSISTANT
3.32 [MOTOR] VEHICLE
3.32.1 CONVENTIONAL VEHICLE
3.32.2 [ADS-EQUIPPED] DUAL-MODE VEHICLE
3.32.3 ADS-DEDICATED VEHICLE (ADS-DV)
4. TAXONOMY OF DRIVING AUTOMATION
Table 1 — Summary of levels of driving automation
Table 1 — Summary of levels of driving automation (continued)
Figure 10 — Simplified logic flow diagram for assigning driving automation level to a feature
Table 2 — Roles of human user and driving automation system by level of driving automation
Table 3 — User roles while a driving automation system is engaged
5. LEVELS OR CATEGORIES OF DRIVING AUTOMATION
5.1 Level or Category 0 - No Driving Automation
5.2 Level or Category 1 - Driver Assistance
5.3 Level or Category 2 - Partial Driving Automation
5.4 Level or Category 3 - Conditional Driving Automation
5.5 Level or Category 4 - High Driving Automation
5.6 Level or Category 5 - Full Driving Automation
6. SIGNIFICANCE OF OPERATIONAL DESIGN DOMAIN (ODD)
Figure 11 — ODD relative to driving automation levels
Figure 12 — ODD relative to driving automation levels
7. DEPRECATED TERMS
7.1 Autonomous, Driving Modes(s), Self-Driving, Unmanned, Robotic
7.1.1 Autonomous
7.1.2 Driving Mode(s)
7.1.3 Self-Driving
7.1.4 Unmanned
7.1.5 Robotic
7.2 Automated or Autonomous Vehicle
7.3 Control
8. ADDITIONAL DISCUSSION
8.1 This document is not a specification and imposes no requirements.
8.2 Levels are Assigned, Rather than Measured, and Reflect the Design Intent for the Driving Automation System Feature as Defined by its Manufacturer
C073766e
8.3 Level Assignments are Nominal, Rather than Ordinal, and are Never Fractional
8.4 Levels are Mutually Exclusive
C073766e
8.5 DDT Performance, Fallback Performance, and Minimal Risk Condition Achievement are Separate Functions
8.6 DDT Fallback versus Failure Mitigation Strategy
Figure 13 — Use case sequence for a Level 3 feature showing ADS engaged, occurrence of a failure or out-of-ODD condition, and the fallback-ready user performing the fallback, or, if the fallback-ready user fails to do so, a failure mitigation strategy...
Figure 14 — Use case sequence at Level 4 showing ADS engaged, a catastrophic event (e.g., complete power failure) and the system achieving a minimal risk condition (Note: Dashed lines represent failure mitigation strategy.)
8.7 Level 5 “Full Driving Automation” is the Inverse Analog of Level 0 “No Driving Automation”
8.8 Practical Considerations Regarding Level 5
8.9 User Request to Perform the DDT when a Level 3, 4, or 5 ADS is Engaged
8.10 Possible Automation of Some Strategic Aspects of Driving
8.11 Driving versus DDT
8.12 Crash Avoidance Features Found on Some Conventional Vehicles Designed for Human Operation are Subsumed by an ADS
8.13 Placing this Document in the Broader Context of Driver Assistance, Driving Automation, and Active Safety Features
8.14 Comparison of SAE J3016 Driving Automation Levels with BASt Levels
9. NOTES
9.1 Revision Indicator
22736_PAS (1)
Blank Page