Europe
Europe
Emergency Lane Keeping System (ELKS)
The EU's new GSR Regulation 2019/2144 stipulates that from July 6, 2022, all new type of M1 and N1 vehicles must install the emergency lane keeping system (ELKS) and comply with Regulation (EU) 2021/646. The Emergency Lane Keeping System (ELKS) is a driving assistance system that should warn the driver and correct the trajectory when the driver accidentally leaves the lane.
Article 7(3) of Regulation (EU) 2019/2144 requires passenger cars and light commercial vehicles to be equipped with emergency lane-keeping systems. It is necessary to establish rules as regards uniform procedures and technical specifications for the type-approval of vehicles with regard to the emergency lane-keeping systems.
So this regulation is applicable for M1 and N1 vehicles.
ATIC experts are working under designated technical services in Europe to conduct Initial Assessment, Witness Testing and CoP assessment as authorized inspectors under authorities including e/E4 Netherland, e/E5 Sweden, e/E13 Luxembourg, e/E24 Ireland, e/E49 Cyprus.
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LDWS & CDCF Test procedures
An emergency lane-keeping system (ELKS) shall comprise a lane departure warning system (LDWS) and a corrective directional control function (CDCF)
- Visual warning signal verification test
- Lane departure warning test
○ Drive the vehicle at a speed of 70 km/h ± 3 km/h into the centre of the test lane in a smooth manner so that the attitude of the vehicle is stable.
○ The test requirements are fulfilled if the LDWS provides the lane departure warning indication at the latest when the DLTM is – 0,3 m. - Manual deactivation test
- Warning Indication test
○ The subject vehicle shall be driven with an activated CDCF on a road with solid lane markings on at least one side of the lane.
○ The test requirements are fulfilled if the acoustic warning is provided no later than 10 seconds after the beginning of the intervention.
○ The test requirements are fulfilled if the acoustic warning is provided no later than 10 seconds after the beginning of the intervention.
○ The subject vehicle shall be driven in such a way that it attempts to leave the lane and causes at least three interventions of the system within a rolling interval of 180 seconds.
○ The test requirements are fulfilled if all the following conditions are met:
（a）A visual warning signal is provided for each intervention, as long as the intervention exists;
（b）An acoustic warning signal is provided at the second and third intervention;
（c）The acoustic warning signal at the third intervention is at least 10 s longer than the one at the second intervention.
（b）An acoustic warning signal is provided at the second and third intervention;
（c）The acoustic warning signal at the third intervention is at least 10 s longer than the one at the second intervention.
- Steering override test
○ The test requirements are fulfilled if:
（a）The force applied by the driver on the steering control to override the intervention does not exceed 50N.
（b）There is no sudden loss of significant steering support once CDCF is overridden.
（c）For ELKS that do not act on the steering itself (e.g. differential braking type CDCF), the steering input does not exceed 25 degrees. - Lane keep test
○ The subject vehicle speed during the test up to the point of system intervention shall be 72km/h+/–1km/h. The curve of fixed radius driven to apply the lateral velocity required shall have a radius 1 200 m or more. The lateral velocity required shall be achieved to a tolerance of +/– 0,05 m/s.
○The test requirements are fulfilled if the subject vehicle does not cross the lane marking by a DTLM of more than – 0,3 m.
ELKS General Requirements
- An emergency lane-keeping system (ELKS) shall comprise a lane departure warning system (LDWS) and a corrective directional control function (CDCF).
- Subject to specific requirements below the system shall be designed to minimise warnings and interventions for driver intended manoeuvres.
- ELKS failure warning：A warning shall be provided when there is a failure in the ELKS that prevents the requirements of this Regulation of being met.
- The failure warning shall be a constant visual warning signal.
- There shall not be an appreciable time interval between each ELKS self-check, and subsequently there shall not be a delay in illuminating the warning signal, in the case of an electrically detectable failure.
- Upon detection of any non-electrical failure condition, the warning signal shall be activated.
- If the vehicle is equipped with a means to deactivate the ELKS a warning shall be given when the system is deactivated. This shall be a constant visual warning signal.
- Manual deactivation：When a vehicle is equipped with a means to manually deactivate the ELKS function, either partially or fully, the following conditions shall apply as appropriate:
○ The full ELKS function shall be automatically and fully reinstated upon each activation of the vehicle master control switch.
○ The manual deactivation of the full ELKS shall not be possible with less than two deliberate actions, e.g. press and hold on a button, or select and confirm on menu option. It shall be possible to easily suppress acoustic warnings of the LDWS, but such action shall not at the same time deactivate the LDWS or the CDCF.
- Automatic deactivation: If the vehicle is equipped with a means to automatically deactivate the ELKS function, either partially or fully, for instance in situations such as off-road use, being towed, a trailer being hitched to the vehicle or the electronic stability control (ESC) being deactivated, the following conditions shall apply as appropriate:
○ As part of the safety audit, the vehicle manufacturer shall provide a list of situations and corresponding criteria where the ELKS function is automatically deactivated which shall be annexed to the test report.
○ The ELKS function shall be automatically and fully reactivated as soon as the conditions that led to the automatic deactivation are not present anymore. - A constant visual warning signal shall inform the driver that the ELKS function has been deactivated. The failure warning signal may be used for this purpose.
- Automatic suppression of the ELKS is also permitted in situations when other driver assist or automated steering functions, (i.e. ACSF, ESF or ALK), are controlling the lateral movement of the vehicle or other safety related functions (i.e. that is capable of changing the dynamic behaviour of the vehicle such as AEBS, ESC, etc.) are intervening.
- Speed range: The LDWS shall be active at least within the vehicle speed range between 65 km/h and 130 km/h (or the maximum vehicle speed if it is lower than 130 km/h) and at all vehicle load conditions, unless deactivated.
- Lane departure warning: When activated and operated within the prescribed speed range, the LDWS shall be able to warn the driver at the latest if the vehicle crosses over a visible lane marking for the lane in which it is running by more than a DTLM of – 0,3 m: ○ for lateral departure velocities in the range of the 0,1m/s to 0,5m/s;○ on straight, flat and dry roads;○ the lane markings should comply with UN R130;○ the lane markings should be in good condition;○ in all illumination conditions without blinding of the sensors (e.g.direct blinding due to sunlight)and with activated passing-beam (dipped-beam) headlamps if necessary;○ in absence of weather conditions affecting the visibility of lane markings.
- LWDS warning shall be provided in one of two ways: at least two warning means out of visual, acoustic and haptic; or one warning means out of haptic and acoustic, with spatial indication about the direction of unintended drift of the vehicle. The warning mentioned above may be suppressed when there is a driver action which indicates an intention to depart from the lane.
○ Where a visual signal is used for the lane departure warning, it may use the failure warning signal in a flashing mode.
○ When there is a lane keep intervention by the CDCF, this shall be considered a haptic warning.
- The LDWS visual warning signal shall be activated following a vehicle master control switch ‘power-ON’.
- The LDWS visual warning signals shall be visible even by daylight.
- Speed range: The CDCF shall be active at least between 70 km/h and 130 km/h (or the maximum vehicle speed if it is below 130 km/h) and at all vehicle load conditions, unless deactivated. However, in the case that the vehicle reduces its speed from above 70 km/h to below 70 km/h, the system shall be active at least until the vehicle speed reduces below 65 km/h.
- Lane keep: In the absence of conditions leading to deactivation or suppression of the system, the CDCF shall be able to prevent lane departure by crossing of visible lane markings in the scenarios shown in the following table by more than a DTLM of – 0,3 m:
○ for lateral departure velocities in the range of the 0,2m/s to 0,5m/s for vehicle speeds up 100km/h and for lateral departure velocities in the range of 0,2 m/s to 0,3 m/s for vehicle speeds greater than 100 km/h and up to 130 km/h (or the maximum vehicle speed if it is below 130 km/h);
○ on straight, flat and dry roads;
○ the lane markings should comply with UN R130;
○ the lane markings should be in good condition;
○ in all illumination conditions without blinding of the sensors (e.g.direct blinding due to sunlight) and with activated passing-beam (dipped-beam) headlamps if necessary;
○ in absence of weather conditions affecting the visibility of lane markings.
- Steering override
○ The steering control effort necessary to override the directional control provided by the system shall not exceed 50 N. Significant loss of steering support once overridden shall not happen suddenly.
○ For CDCF systems which do not act on the steering itself (e.g. differential braking type CDCF), the steering input shall not exceed 25 degrees.
- CDCF warning indication
○ Every CDCF intervention shall immediately be indicated to the driver by a visual warning signal which is displayed for at least 1 second or as long as the intervention exists, whichever is longer. The visual signal may be the flashing of the failure warning signal.
○ In the case of an intervention longer than 10 seconds, an acoustic warning signal shall be provided until the end of the intervention unless there is a driver action which indicates an intention to depart from the lane.
○ In the case of two or more consecutive interventions with in a rolling interval of 180 seconds and in the absence of a steering input by the driver during this intervention, an acoustic warning signal shall be provided by the system during the second and any further intervention within a rolling interval of 180 seconds. Starting with the third intervention (and subsequent interventions) the acoustic warning signal shall continue for at least 10 seconds longer than the previous warning signal.
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