scope:

This document forms Part 1 of the 23793 series addressing the minimum requirements for minimal risk manoeuvres (MRM), which are the response of an ADS to perform automated fallback to reach a minimal risk condition (MRC).

This document contains the classification framework for all type of MRMs. The classification framework establishes the concept of MRM operation, classification of different MRM types, and basic principles of the decision-making process to decide which MRM type may be performed based on the situation.

This document also contains the minimum requirements of the control strategy and test procedures for the two simplest types: Straight Stop for type1 and In-lane Stop for type2.

The scope of the MRM described in this document covers minimum requirements for ADS performance during MRM action, from initiation to termination, which aims to achieve an MRC. MRM action-specific safety requirements for robust system design, such as what is specified in ISO 26262^[4] and ISO 21448,^[5] are not within the scope of this standard.

The MRM described in this standard are intended to be used on light-duty vehicles equipped with Level 3-5 ADS.

The scope does not include methods for detecting ADS failures and the decision-making process to initiate an MRM. This is because there are numerous cases that can initiate MRMs, and there is no general agreement on classification of those cases in the industry.