智能交通系统 自动驾驶的最小风险操纵（MRM） 第1部分：框架、直行停车和车道内停车

[中文适用范围]： 本文件涉及最低风险操作 (MRM) 的最低要求，即 ADS 执行自动后退以达到最低风险条件 (MRC) 的响应。本文件规定了 MRM 的分类框架。分类框架建立了 MRM 操作的概念、不同 MRM 类型的分类以及决策过程的基本原则，以根据情况决定可以执行哪种 MRM 类型。本文件还规定了两种最简单 MRM 类型的控制策略和测试程序的最低要求：类型 1 的直线停车和类型 2 的车道内停车。本文件中描述的 MRM 的范围涵盖了 MRM 操作期间 ADS 性能的最低要求，从启动到终止，旨在实现 MRC。针对稳健系统设计的 MRM 操作特定安全要求（例如 ISO 26262 和 ISO 21448 中规定的要求）不在本文件的范围内。本文件中描述的 MRM 旨在用于配备 3-5 级 ADS 的轻型车辆。范围不包括检测 ADS 故障的方法和启动 MRM 的决策过程。这是因为有许多情况可以启动 MRM，而业界对这些情况的分类尚无统一意见。 [外文原描述]： This document addresses 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 specifies the classification framework for 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 can be performed based on the situation. This document also specifies the minimum requirements of the control strategy and test procedures for the two simplest types of MRM: straight stop for type 1 and in-lane stop for type 2. The scope of the MRM described in this document covers minimum requirements for ADS performance during MRM action, from initiation to termination, aimed at achieving an MRC. MRM action-specific safety requirements for robust system design, such as those specified in ISO 26262 and ISO 21448, are not within the scope of this document. The MRM described in this document 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.