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1 0 28 12 7 IT 31 2 2 ITS 2016 NHTSA 5 L4 2016 9 NHTSA SAE Society of Automotive Engineers L5 ITS SAE 2012 2013 2014 2015 2016 2017 NHTSA 2013/6 NHTSA NHTSA 2016/1 SAE ITS 2014/6 SAE J3016 2014/1 SAE J3016 2016/9 ITS 2017 ITS 2015 2015/6 NHTSA ITS 2016 2016/5 NHTSA 2016/9 ERTRAC 2015/7 2013/10 2013/10 3 NHTSA 2016 9 SAEJ3016 SAE NHTSA2013) NHTSA NHTSA ERTRAC AutomatedDrivingRoadmap 2015/7 ERTRAC SAEJ3016 3 NHTSA2016)

2 SAE SAE SAE 0 2 3 5 HAV SAE 3 5 NHTSA HAV SAEJ3016 SAE 0 SAE 1 SAE 2 SAE 3 SAE 4 SAE 5 ERTRAC 4 SAEJ3016 2016 SAE 2016 9 DDT, OEDR, ODD ODD SAEL L SAEJ30162014 1 2016 9 45 SAEJ3016 2016 DDT (DDTfallback) (ODD) (OEDR) DDT 0 No Driving Automation DDT Theperformance by the driver of the entire DDT, even when enhanced by active safety systems n/a1 Driver Assistance ODD DDT DDT The sustained and ODD-specific execution by a driving automation system of either the lateral or the longitudinalvehicle motion control subtask of the DDT (but not both simultaneously) with the expectation that the driver performs the reminder of the DDT.

3 2 Partial Driving Automation ODD DDT OEDR DDT Thesustained and ODD-specificexecution by a driving automation system of both the lateral and longitudinal vehicle motion control subtasks of the DDT with the expectation that the driver completes OEDR subtask and supervises the driving automation system ADS DDT 3 Conditioned Driving Automation ADS DDT ODD DDT fallback-readyuser ADS DDT Thesustained and ODD-specificperformance by an ADS of the entire DDT with the expectation the DDT fallback-ready user is receptive to ADS issued requests to intervene , as well as DDT performance relevant system failures in other vehicle systems, and will respond appropriately.

4 4 High Driving Automation ADS DDT ODD DDT fallback Thesustained and ODD-specificperformance by an ADS of the entire DDT and DDT fallback without any expectation that a user will respond to intervene. 5 Full Driving Automation ADS DDT ODD DDT fallback Thesustained and unconditional ( not ODD-specific)performance by an ADS of the entire DDT and DDT fallback without any expectation that a user will respond to intervene. 56 6 ITS RM NHTSA2013 SAE J3016(2016) Level0:NoAutomation Level0:NoDriving Automation DDT Level1:FunctionSpecificAutomation Level1: Driver Assistance DDT Level2:CombinedFunctionAutomation Level 2: Partial Driving Automation DDT Level3: Limited Self-driving Automation Level 3.

5 ConditionedDriving Automation DDT ODD Level4 FullSelf-drivingAutomation Level 4:High Driving Automation DDT ODD Level 5: Full DrivingAutomation DDT SAEJ3016 2016 ITS RM L4 SAEL4 SAEL5 ITS RM NHTSA2013 SAEJ3016(2016) 7 DDT, OEDR, ODD SAEJ3016 2016 DDT, OEDR, ODD ODD 2016 9 NHTSA SAEJ3016 2016 7 DDT DynamicDrivingTa s k OEDR ObjectandEventDetectionandResponse DDT ODD OperationalDesignDomain ODD ODD SAEL1 L4 SAE L5 ODD 8 ADS L2 SAEJ3016 ADS L3 L5 L1 L5 / SAEJ3016 2016 8 DrivingAutomationSystem/ Technology / DDT

6 L L5 ADS AutomatedDrivingSystem DDT ODD L L4 L5 ADS-DV ADS-DedicatedVehicle L4 L5 ADS-DV ADS ADS-DV 1) ODD 2) 3) SAEJ3016(2016) Autonomous Self-driving Driverless) Unmanned Robotic autonomous L3 Self-driving automated auto-pilot autonomous 2016 10 2016 7 9 ITS 2016 4 SAEJ3016 2016 SAEL3 SAEL4 Dispatcher SAEJ3016 2016 9 Dispatcher RemoteDriver Dispatcher

7 L4 (DDT) Fallback-Ready User ADS ADS ADS-equippedVehicle) Dispatcher ADS ADS ADS L4 Dispatcher 10 ITS 2016 1011 ITS 2016 1112 13 SAEJ3016 2016 D D T,OEDR, ODD SAEJ3016 2016 SAE 4 5 SAE ITS 2017 SAEJ3016 2016 ITS 2017 ITS 2017 2017 1314 SAE 0 SAE 1 SAE 2 SAE 3 ( )

8 SAE 4 SAE 5 SAE 4 5 15 SAE 2 2017 2020 2020 SAE 3 2020 SAE 4 5 2020 2025