(1) The test vehicle shall be driven in a lane of a straight test track, which has at least two lanes in the same direction of travel, with road markings on each side of the lanes. 
(2) The ACSF of Category C shall be activated, another vehicle shall approach from the rear, the approaching vehicle shall then pass the vehicle under test entirely. 
(3) A lane change into the adjacent lane shall then be initiated by the driver. 
(4) The vehicle speed shall be: Vsmin + 10km/h.

(a) The lateral movement towards the marking does not start earlier than 1 second after the lane change procedure was initiated. 
(b) The lateral movement to approach the lane marking and the lateral movement necessary to complete the lane change manoeuvre are completed as one continuous movement. 
(c) The recorded lateral acceleration does not exceed 1 m/s2. 
(d) The moving average over half a second of the lateral jerk does not exceed 5 m/s3. 
(e) The lane change manoeuver is completed in less than 5 seconds for M1. 
(f) ACSF of Category B1 automatically resumes after the lane change manoeuvre is completed. 
(g) The direction indicator is deactivated not before the end of the lane change manoeuvre and no later than 0.5 seconds after ACSF of Category B1 has resumed.

(1) The test vehicle shall be driven in a lane of a straight test track, which has at least two lanes in the same direction of travel, with road markings on each side of the lanes. 
(2) The vehicle speed shall be: Vsmin - 10km/h. Another vehicle shall approach from the rear, the approaching vehicle shall then pass the vehicle under test entirely.
(3) A lane change into the adjacent lane shall then be initiated by the driver.

The lane change manoeuvre is not performed.

(1) The test vehicle shall be driven in a lane of a straight test track, which has at least two lanes in the same direction of travel, with road markings on each side of the lanes. 
(2) The vehicle speed shall be: Vsmin +10km/h. 
(3) A lane change into the adjacent lane shall then be initiated by the driver. The steering control shall be firmly controlled by the driver to maintain the vehicle in the straight direction.

The measured overriding force does not exceed 50 N.

(1) The test vehicle shall be driven in a lane of a straight test track, which has at least two lanes in the same direction of travel, with road markings on each side of the lanes. 
(2) The vehicle speed shall be: Vsmin +10km/h. 
(3) The ACSF of Category C shall be activated.Another vehicle shall approach from the rear, the approaching vehicle shall then pass the vehicle under test entirely. A lane change into the adjacent lane shall then be initiated by the driver.

The requirements of the test are fulfilled if the lane change procedure is suppressed, for each of the test cases below: 
(a) The system is overridden by the driver; 
(b) The system is switched off by the driver;
(c) The vehicle speed is reduced to: V_smin-10 km/h; 
(d) The driver has removed his hands from the steering control; 
(e) The direction indicator lamps are manually deactivated by the driver; 
(f) The lane change manoeuvre has not commenced within 5.0 seconds following the initiation of the lane change procedure. (e.g. another vehicle is driving in the adjacent lane in a critical situation).

(1) The test vehicle shall be driven in a lane of a straight test track, which has at least two lanes in the same direction of travel, with road markings on each side of the lanes.
(2) The vehicle speed shall be: Vsmin +10km/h. 
(3) Another vehicle shall approach from the rear on the adjacent lane, with a speed of 120 km/h. 
(4) The approaching vehicle shall be a type approved high volume series production motorcycle of category L3 with an engine capacity not exceeding 600 cm3 without front fairing or windshield and shall aim to drive in the middle of the lane. 
(5) The distance between the rear end of the test vehicle and the front end of the approaching vehicle shall be measured.

The system detects the approaching vehicle no later than at the distance declared by the vehicle manufacturer (S_rear).

(1) The test vehicle shall be driven in a lane of a straight test track, which has at least two lanes in the same direction of travel, with road markings on each side of the lanes. 
(2) The vehicle speed shall be: Vsmin +10km/h. 
(3) The rear sensor(s) shall be made blind, with means agreed between the vehicle manufacturer and the Technical Service. 
(4) The ACSF of Category C shall be activated. Another vehicle shall approach from the rear, the approaching vehicle shall then pass the vehicle under test entirely. A lane change into the adjacent lane shall then be initiated by the driver.

The system detects the sensor blindness, provides a warning to the driver and is prevented from performing the lane change manoeuvre.

The test vehicle shall be driven in a lane of a straight test track, which has at least two lanes in the same direction of travel, with road markings on each side of the lanes. The vehicle speed shall be: V_smin +10km/h.

Phase 1- Default-off test: Following a new engine start /run cycle performed by the driver, the test vehicle shall be driven in a lane of a straight test track. The ACSF of Category C shall not be activated and another vehicle shall approach from the rear and the approaching vehicle shall pass the vehicle entirely. A lane change into the adjacent lane shall then be initiated by the driver.

The lane change manoeuvre is not initiated.

Phase 2: The objective of the test is to check that the lane change manoeuvre is prevented if the system has not detected any moving object at a distance equal or greater than the distance S_rear. Following a new engine start / run cycle performed by the driver, the test vehicle shall be driven in a lane of a straight test track. The ACSF of Category C shall be manually activated. A lane change procedure shall then be initiated by the driver.

The lane change manoeuvre is not started.

Phase 3 - Lane change enabling conditions test: The objective of the test is to check that the lane change manoeuvre is only possible once the system has detected a moving object at a distance equal or greater than the distance S_rear. Following the completion of the test phase 2, another vehicle shall approach from the rear on the adjacent lane in order to enable the system. The distance between the rear end of the test vehicle and the front end of the approaching vehicle shall be measured. And the value when the system detects the approaching vehicle be recorded. After the rear coming vehicle has entirely passed the vehicle under test, a lane change procedure shall be initiated by the driver.

(a) The lane change manoeuver is executed; 
(b) The approaching vehicle is detected no later than at the distance declared by the vehicle manufacturer (S_rear).