• 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.

• 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.

• 在驾驶自动化系统参与过程中，明确(人工)司机(如果有)的角色。
• 在制定法律、政策、法规和标准时，回答有关范围的问题。
• 为驱动自动化规范和技术要求提供一个有用的框架。
• 提供关于驾驶自动化主题的清晰和稳定的沟通，以及节省大量时间和精力的有用速记。

• 要有描述性和知识性，而不是规范性。
• 提供功能定义。
• 与当前行业实践保持一致。
• 在可行范围内与现有技术保持一致。
• 适用于工程、法律、媒体、公共话语等学科。
• 文章要清晰而有说服力，同样地，文章应该避免或定义含糊不清的术语。

• 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.

• 澄清和合理化较低级别(0-2级)的分类区分器。
• 阐明J3016驱动自动化分类的范围(即，解释它适用什么和不适用什么)。
• 修改现有的，并添加新的，支持的术语和定义。
• 在整个过程中增加更多的理论基础、例子和解释性文本。

Figure 1 - Schematic view of driving task showing DDT portion

For purposes of DDT performance, level 1 encompasses automation of part of the innermost loop (i.e., either lateral vehicle motion control functionality or longitudinal vehicle motion control functionality and limited OEDR associated with the given axis of vehicle motion control); level 2 encompasses automation of the innermost loop (lateral and longitudinal vehicle motion control and limited OEDR associated with vehicle motion control), and levels 3-5 encompass automation of both inner loops (lateral and longitudinal vehicle motion control and complete OEDR). Note that DDT performance does not include strategic aspects of driving (e.g., determining whether, when and where to travel).

图1 -显示DDT部分的驾驶任务示意图

为了达到DDT性能的目的，1级包含了部分最内层回路的自动化(即，横向车辆运动控制功能或纵向车辆运动控制功能，以及与给定的车辆运动控制轴相关的有限OEDR);2级包含最内层的自动化回路(横向和纵向车辆运动控制和与车辆运动控制相关的有限OEDR)， 3-5级包含两个内层回路的自动化回路(横向和纵向车辆运动控制和完整OEDR)。注意DDT的性能不包括驾驶的战略方面(例如，决定是否、何时和到哪里旅行)。

The following Figures 2 through 6 illustrate DDT fallback at various levels of driving automation.

Figure 2 - Use case sequence at Level 3 showing ADS engaged, a vehicle failure and the user resuming control
Figure 3 - Use case sequence at Level 3 showing ADS engaged, and ADS failure and the user resuming control
Figure 4 - Use case sequence at Level 3 showing ADS engaged, exiting the ODD and the user resuming control

下面的图2到图6说明了在驾驶自动化的不同级别上DDT的回退。

图2 -第3级的用例序列显示广告已被激活、车辆故障和用户恢复控制
图3 -第3级的用例序列显示广告参与，广告失败和用户恢复控制
图4 -第3级的用例序列显示广告已被占用、退出奇数和用户恢复控制

Figure 5 - Use case sequence at Level 4 showing ADS engaged, an ADS failure and the system achieving a minimal risk condition
Figure 6 - Use case sequence at Level 4 showing ADS engaged, approaching ODD exit and the system achieving a minimal risk condition

Figure 7 - Diagram showing vehicle axes of motion (SAE J670:JAN2008)

3.14.1 MONITOR THE USER

The activities and/or automated routines designed to assess whether and to what degree the user is performing the role specified for him/her.
NOTE 1: User monitoring in the context of driving automation is most likely to be deployed as a countermeasure for misuse or abuse (including over-reliance due to complacency) of a driving automation system, but may also be used for other purposes.
NOTE 2: User monitoring is primarily useful for levels 2 and 3, as below these levels evidence from the field has not identified significant incidence of misuse or abuse of driving automation technology, and above these levels the ADS is always capable of achieving a minimal risk condition automatically, so user misuse/abuse is not relevant.

3.14.1监控用户

设计用来评估用户是否以及在多大程度上执行了为其指定的角色的活动和/或自动化例程。
注1:自动驾驶环境下的用户监控很可能被用于防止驾驶自动化系统的误用或滥用(包括因自满而过度依赖)，但也可能用于其他目的。
注2:用户监控主要是用于水平2和3,如下这些领域没有确定的证据水平的发病率显著误用或滥用的驾驶自动化技术,以上这些水平的广告总是能够自动实现最小的风险状况,所以用户误用或滥用是不相关的。

3.14.2 MONITOR THE DRIVING ENVIRONMENT

The activities and/or automated routines that accomplish real-time roadway environmental object and event detection, recognition, classification, and response preparation (excluding actual response), as needed to operate a vehicle.
NOTE: When operating conventional vehicles that are not equipped with an engaged ADS, drivers visually sample the road scene sufficiently to competently perform the DDT 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 the driving environment does not necessarily entail continuous eyes-on-road time by the driver.

3.14.2监控驾驶环境

活动和/或自动化例程，完成实时道路环境对象和事件检测、识别、分类和响应准备(不包括实际响应)，根据需要操作车辆。
注意:在驾驶没有安装广告的常规车辆时，驾驶员可以在视觉上对道路场景进行充分的采样，以胜任执行DDT的工作，同时还可以执行需要短时间眼观窗外的次要任务(例如，调整机舱舒适度设置、扫描路牌、调整收音机等)。因此，监控驾驶环境并不一定需要驾驶员持续盯着道路的时间。

3.14.3 MONITOR VEHICLE PERFORMANCE (FOR DDT PERFORMANCE-RELEVANT SYSTEM FAILURES)

The activities and/or automated routines that accomplish real-time evaluation of the vehicle performance, and response preparation, as needed to operate a vehicle.
NOTE: While performing the DDT, level 4 and 5 ADSs monitor vehicle performance. However, for level 3 ADSs, as well as for level 1 and 2 driving automation systems, the human driver is assumed to be receptive to vehicle conditions that adversely affect performance of the DDT (see definition of receptivity at 3.18).

EXAMPLE 1: While a level 2 driving automation system is engaged in stop-and-go traffic, a malfunctioning brake caliper causes the vehicle to pull slightly to the left when the brakes are applied. The human driver observes that the vehicle is deviating from its lane and either corrects the vehicle’s lateral position or disengages the driving automation system entirely.
EXAMPLE 2: While a level 4 ADS is engaged in stop-and-go traffic, a malfunctioning brake caliper causes the vehicle to pull to the left when the brakes are applied. The ADS recognizes this deviation, corrects the vehicle’s lateral position and transitions to a limp-home mode until the vehicle achieves a minimal risk condition.

3.14.3监控车辆性能(针对与DDT性能相关的系统故障)

完成车辆性能实时评估和响应准备的活动和/或自动化程序，如操作车辆所需。
注:在执行DDT时，4级和5级ADSs监控车辆的性能。然而，对于3级ADSs，以及1级和2级驾驶自动化系统，人类驾驶员被认为能够接受对DDT性能产生不利影响的车辆条件(见3.18的接受度定义)。

例1:当一个2级自动驾驶系统处于走走停停的交通状态时，一个失灵的制动卡钳导致车辆在刹车时轻微地向左拉。驾驶员观察到车辆偏离车道时，要么纠正车辆的横向位置，要么完全脱离驾驶自动化系统。
例子2:当四级ADS处于走走停停的交通状态时，一个失灵的制动卡钳导致车辆在刹车时向左拉。ADS能够识别这种偏差，纠正车辆的横向位置，并切换到跛置模式，直到车辆达到最小风险状态。

3.14.4 MONITOR DRIVING AUTOMATION SYSTEM PERFORMANCE

The activities and/or automated routines for evaluating whether the driving automation system is performing part or all of the DDT appropriately.
NOTE 1: The term monitor driving automation system performance should not be used in lieu of supervise, which includes both monitoring and responding as needed to perform the DDT and is therefore more comprehensive.
NOTE 2: Recognizing requests to intervene issued by a driving automation system is not a form of monitoring driving automation system performance, but rather a form of receptivity.
NOTE 3: At levels 1-2, the driver monitors the driving automation system’s performance .
NOTE 4: At higher levels of driving automation (levels 3-5), the ADS monitors its own performance of the complete DDT.

EXAMPLE 1: A conventional driver verifies that an engaged ACC system is maintaining an appropriate gap while following a preceding vehicle in a curve.
EXAMPLE 2: A remote driver engaging a level 2 automated parking feature monitors the pathway of the vehicle to ensure that it is free of pedestrians and obstacles.

3.14.4监控驾驶自动化系统性能

用于评估驾驶自动化系统是否正确执行部分或全部DDT的活动和/或自动化程序。
注1:术语“监控驾驶自动化系统性能”不能代替“监督”，“监督”包括在执行DDT时的监控和响应，因此更全面。
注2:识别驾驶自动化系统发出的干预请求不是一种监控驾驶自动化系统性能的形式，而是一种接受的形式。
注3:在1-2级，驾驶员监控驾驶自动化系统的性能。
注4:在更高级别的驾驶自动化水平(3-5级)，ADS监控自己的完整DDT性能。

例1:一名传统驾驶员验证在弯道上跟随前一辆车时，ACC系统是否保持了适当的间隙。
例2:远程驾驶员使用2级自动停车功能监控车辆的路径，以确保车辆没有行人和障碍物。

从起点到终点的整个旅行路径。
注:在给定的行程中，DDT的性能可以由司机或驾驶自动化系统全部或部分完成，或两者同时完成。

对特定车辆实时执行部分或全部DDT和/或DDT回退的用户。
注:在配备自动驾驶系统的车辆中，司机可以在给定的行程中承担或恢复自动驾驶系统的部分或全部DDT的性能。

3.24.1.1(传统)驱动程序
驾驶员为操作车辆而手动操作车辆的刹车、加速、转向和选择传动齿轮输入装置的驾驶员
注意:在汽车领域，传统的驾驶员通常被认为是坐在“驾驶员座位”上，这是一个独特的座位位置，使(人类)驾驶员可以方便地使用车内输入设备(方向盘、刹车、油门踏板、变速杆)。

3.24.1.2 REMOTE DRIVER
A driver who is not seated in a position to manually exercise in-vehicle braking, accelerating, steering, and transmission gear selection input devices (if any) but is able to operate the vehicle.
NOTE 1: A remote driver can include a user who is within the vehicle, within line of sight of the vehicle, or beyond line of sight of the vehicle.
NOTE 2: A remote driver is not the same as a dispatcher (see 3.24.4), although a dispatcher may become a remote driver if s/he has the means to operate the vehicle remotely.
NOTE 3: A remote driver does not include a person who merely creates driving-relevant conditions that are sensed by, or communicated to, the ADS (e.g., a police officer who announces over a loudspeaker that a particular stop sign should be ignored; another driver who flashes her head lamps to encourage overtaking, or a pedestrian using a DSRC system to announce her presence).
EXAMPLE 1: A level 2 automated parking feature allows the remote driver to exit the vehicle near an intended parking space and to cause the vehicle to move into the parking space automatically by pressing and holding a special button on the key fob, while s/he is monitoring the driving environment to ensure that no one and nothing enters the vehicle pathway during the parking maneuver. If, during the maneuver, a dog enters the pathway of the vehicle, the remote driver releases the button on the key fob in order to cause the vehicle to stop automatically. (Note that the remote driver in this level 2 example completes the OEDR subtask of the DDT during the parking maneuver.)
EXAMPLE 2: This example is identical to Example 1, except that the remote driver is sitting in the back seat, rather than standing outside the vehicle.
EXAMPLE 3: A level 4 closed campus delivery vehicle that has experienced a DDT performance-relevant system failure, which forced it to resort to a minimal risk condition by parking on the side of a campus roadway, is returned to its designated marshalling yard by a remote driver who is able to operate the vehicle using wireless means.

3.24.1.2远程驱动程序
没有坐到可以手动操作车辆刹车、加速、转向和变速箱选择输入设备(如果有的话)但能够操作车辆的司机。
注1:远程驾驶员可包括在车辆内、在车辆视线范围内或在车辆视线之外的用户。
注2:远程驱动程序与调度员不同(见3.24.4)，但如果调度员有能力远程操作车辆，也可以成为远程驱动程序。
注3:远程司机并不包括仅仅根据广告感应或传达广告而制造与驾驶有关的情况的人(例如警察透过扬声器宣布应忽略某一特定的停车标志;另一个司机闪灯鼓励超车，或者一个行人使用DSRC系统宣布她的存在)。
示例1:2级自动停车功能允许远程驱动程序退出一个停车位和附近的车辆导致车辆进入停车场自动按关键fob和举行一个特殊的按钮,当他/她监控驾驶环境,以确保没有人,没有进入停放机动车辆路径。如果在操控过程中，一只狗进入了车辆的通道，远程驾驶员就会松开钥匙链上的按钮，使车辆自动停车。(请注意，在这个级别2的示例中，远程驱动程序在停车操作期间完成了DDT的OEDR子任务。)
例2:这个例子和例1是一样的，除了远程驾驶是坐在后座，而不是站在车外。
示例3:一个四级封闭校园运载工具,经历了DDT performance-relevant系统故障,迫使它诉诸最小风险条件由校园道路停车的返回给其指定的铁路货运编组站通过远程司机能够操作车辆使用无线方式。

在车辆中没有参与车辆操作的使用者。
注意:乘客不能远离其所在的车辆。
例1:在一辆配备了4级ADS功能的汽车上，当这个4级ADS功能被使用时，坐在驾驶员座位上的人是乘客。然而，同一个人在使用第4关卡广告功能之前是一名司机，在为了离开高速公路而退出该功能之后也是如此。
例子2:在大学校园里，一个封闭的校园穿梭车里，配备了一个参与四级广告的乘客。
例子3:装备了5级ADS的车辆的车内用户是乘客，只要5级ADS被使用。

配备了3级ADS功能的车辆的用户，能够操作车辆，并能接受ADS发出的干预请求，以及明显的与DDT性能相关的系统故障，迫使他或她执行DDT后备方案。
注1:3级ADS的DDT性能假设一个DDT后备用户可以根据需要执行DDT。在第4级和第5级则没有这样的假设。
注2:切换到执行部分或全部DDT的后备用户成为司机。
注3:DDT后备用户可以远程到其作为DDT后备用户使用的装有ads的车辆。
例子:在高速公路拥堵的交通中执行DDT的3级广告遇到了紧急响应人员，他们由于严重的撞车事故而将交通改道到出口;广告向DDT后备用户发出了干预请求，指示他或她继续执行DDT(即，成为一名司机)。

验证车辆和广告的运行就绪状态并参与或退出广告的用户。
注1:除非目的地在ADS中被预先编程，dispatcher也可以指定目的地。
注2:只有装备了4级或5级ADS的车辆才有可能被派遣。
注3:确保操作就绪包括确保显著性系统清洁和工作，保持正确的胎压和液面，以及确保车辆和ADS的车载诊断系统检查表明没有DDT性能相关的系统故障。
例子:一个四级封闭校园运载工具,经历了DDT performance-relevant系统故障,迫使它诉诸最小风险条件由校园道路停车的返回给其铁路货运编组站的调度器成为远程驱动和能够执行DDT使用无线方式。