自动驾驶领域SAE标准之《道路机动车辆驾驶自动化系统相关术语的分类和定义》官方英文原文翻译与解读
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SAE官网：https://www.sae.org/standards/
J3016™ SEP2016
发布2014 - 01
修改2016 - 09
取代J3016 JAN2014
RATIONALE 基本原理
This Recommended Practice provides a taxonomy describing the full range of levels of driving automation in on-road motor vehicles and includes functional definitions for advanced levels of driving automation and related terms and definitions. This Recommended Practice does not provide specifications, or otherwise impose requirements on, driving automation systems. Standardizing levels of driving automation and supporting terms serves several purposes, including:
Clarifying the role of the (human) driver, if any, during driving automation system engagement.
Answering questions of scope when it comes to developing laws, policies, regulations, and standards.
Providing a useful framework for driving automation specifications and technical requirements.
Providing clarity and stability in communications on the topic of driving automation, as well as a useful short-hand that saves considerable time and effort.
This document has been developed according to the following guiding principles, namely, it should:
Be descriptive and informative rather than normative.
Provide functional definitions.
Be consistent with current industry practice.
Be consistent with prior art to the extent practicable.
Be useful across disciplines, including engineering, law, media, public discourse.
Be clear and cogent and, as such, it should avoid or define ambiguous terms.
The current revision contains updates that reflect lessons learned from various stakeholder discussions, as well as from research projects conducted in Europe and the United States by the AdaptIVe Consortium and by the Crash Avoidance Metrics Partnership (CAMP) Automated Vehicle Research (AVR) Consortium, respectively. 这个推荐的实践提供了一个分类，描述在道路上的机动车辆的驾驶自动化的全部水平，并包括驾驶自动化的高级水平和相关术语和定义的功能定义。本推荐实践不提供规范，也不要求驱动自动化系统。标准化驾驶自动化水平和支持术语有以下几个目的，包括:
在驾驶自动化系统参与过程中，明确(人工)司机(如果有)的角色。
在制定法律、政策、法规和标准时，回答有关范围的问题。
为驱动自动化规范和技术要求提供一个有用的框架。
提供关于驾驶自动化主题的清晰和稳定的沟通，以及节省大量时间和精力的有用速记。
本文件是根据以下指导原则制定的，即:
要有描述性和知识性，而不是规范性。
提供功能定义。
与当前行业实践保持一致。
在可行范围内与现有技术保持一致。
适用于工程、法律、媒体、公共话语等学科。
文章要清晰而有说服力，同样地，文章应该避免或定义含糊不清的术语。
最新修订内容反映了从各利益相关方讨论中获得的经验教训，以及自适应联盟(AdaptIVe Consortium)和自动车辆研究(AVR)联盟分别在欧洲和美国开展的研究项目。
These revisions, while substantial, preserve the original SAE J3016:JAN2014 level names, numbers, and functional distinctions, as well as the supporting terms. However, this version of J3016:
Clarifies and rationalizes taxonomical differentiator(s) for lower levels (levels 0-2).
Clarifies the scope of the J3016 driving automation taxonomy (i.e., explains to what it does and does not apply).
Modifies existing, and adds new, supporting terms and definitions.
Adds more rationale, examples, and explanatory text throughout.
Italicized terms used in this Recommended Practice are also defined herein. 这些修订虽然内容重大，但保留了SAE J3016: 2014年1月的级别名称、编号、功能区别以及支持条款。然而，这个版本的J3016:
澄清和合理化较低级别(0-2级)的分类区分器。
阐明J3016驱动自动化分类的范围(即，解释它适用什么和不适用什么)。
修改现有的，并添加新的，支持的术语和定义。
在整个过程中增加更多的理论基础、例子和解释性文本。
本推荐惯例中使用的术语斜体也在此定义。
1. SCOPE 范围
This Recommended Practice provides a taxonomy for motor vehicle driving automation systems that perform part or all of the dynamic driving task (DDT) on a sustained basis and that range in level from no driving automation (level 0) to full driving automation (level 5). It provides detailed definitions for these six levels of driving automation in the context of motor vehicles (hereafter also referred to as “vehicle” or “vehicles”) and their operation on roadways. These level definitions, along with additional supporting terms and definitions provided herein, can be used to describe the full range of driving automation features equipped on motor vehicles in a functionally consistent and coherent manner. “On-road” refers to publicly accessible roadways (including parking areas and private campuses that permit public access) that collectively serve users of vehicles of all classes and driving automation levels (including no driving automation), as well as motorcyclists, pedal cyclists, and pedestrians.
The levels apply to the driving automation feature(s) that are engaged in any given instance of on-road operation of an equipped vehicle. As such, although a given vehicle may be equipped with a driving automation system that is capable of delivering multiple driving automation features that perform at different levels, the level of driving automation exhibited in any given instance is determined by the feature(s) that are engaged.
This document also refers to three primary actors in driving: the (human) driver, the driving automation system, and other vehicle systems and components. These other vehicle systems (or the vehicle in general terms) do not include the driving automation system in this model, even though as a practical matter a driving automation system may actually share hardware and software components with other vehicle systems, such as a processing module(s) or operating code. 这个推荐的做法提供了一个分类法机动车驾驶自动化系统执行部分或全部的动态驾驶任务(DDT)持续和水平不一,从没有驾驶自动化(0级)完全自动化(要求等级5)。它提供了详细的定义为这六个级别的驾驶自动化的机动车(以下也称为“汽车”或“车辆”)和他们的经营道路。这些级别定义，以及本文提供的其他支持术语和定义，可以用来描述以功能一致和连贯的方式装备在机动车辆上的驾驶自动化功能的全系列。“道路上”是指为各类车辆和驾驶自动化等级(包括无驾驶自动化)以及摩托车、自行车和行人服务的公共通道(包括停车场和允许公众进入的私人校园)。
这些级别适用于驾驶自动驾驶功能(s)，参与任何给定实例的道路上操作的装备车辆。因此，尽管给定车辆可能配备了能够提供多种不同级别的驾驶自动化功能的驾驶自动化系统，但在任何给定情况下显示的驾驶自动化水平取决于所涉及的功能。
本文档还提到了驾驶中的三个主要角色:(人)驾驶员、驾驶自动化系统和其他车辆系统和部件。这些其他车辆系统(或车辆统称)不包括驾驶自动化系统在这个模型中，即使作为一个实际问题，驾驶自动化系统实际上可能与其他车辆系统共享硬件和软件组件，如处理模块或操作代码。
The levels of driving automation are defined by reference to the specific role played by each of the three primary actors in performance of the DDT. “Role” in this context refers to the expected role of a given primary actor, based on the design of the driving automation system in question and not necessarily to the actual performance of a given primary actor. For example, a driver who fails to monitor the roadway during engagement of a level 1 adaptive cruise control (ACC) system still has the role of driver, even while s/he is neglecting it.
Active safety systems, such as electronic stability control and automated emergency braking, and certain types of driver assistance systems, such as lane keeping assistance, are excluded from the scope of this driving automation taxonomy because they do not perform part or all of the DDT on a sustained basis and, rather, merely provide momentary intervention during potentially hazardous situations. Due to the momentary nature of the actions of active safety systems, their intervention does not change or eliminate the role of the driver in performing part or all of the DDT, and thus are not considered to be driving automation.
It should, however, be noted that crash avoidance features, including intervention-type active safety systems, may be included in vehicles equipped with driving automation systems at any level. For ADS-equipped vehicles (i.e., levels 3-5) that perform the complete DDT, crash avoidance capability is part of ADS functionality. 驾驶自动化的水平是根据三个主要参与者在执行DDT时所扮演的具体角色来定义的。这里的“角色”指的是给定的主要参与者的预期角色，基于所讨论的驱动自动化系统的设计，而不一定是给定的主要参与者的实际性能。例如，在使用1级自适应巡航控制(ACC)系统时，驾驶员未能监控路面情况，即使他/她忽视了这一点，他/她仍然扮演着驾驶员的角色。
主动安全系统,如电子稳定控制和自动紧急制动,和某些类型的驾驶员辅助系统,如车道保持辅助,被排除在这个驾驶自动化分类的范围,因为他们不执行部分或全部的DDT在持续的基础上,相反,只是在有潜在危险的情况下提供的干预。由于主动安全系统行为的短暂性，它们的干预不会改变或消除驾驶员在执行部分或全部DDT的作用，因此不被认为是驾驶自动化。
然而，应该注意的是，防撞功能，包括干预型主动安全系统，可能包括在任何水平上配备驾驶自动化系统的车辆。对于装备了ADS的车辆(如3-5级)，执行完整的DDT，碰撞躲避能力是ADS功能的一部分。
2. REFERENCES 参考文献
The following publications form a part of this specification to the extent specified herein. Unless otherwise indicated, the latest issue of SAE publications shall apply.
2.1 Applicable Documents
J670 Vehicle Dynamics Terminology (J670:JAN2008).
J3063 Active Safety Systems Terms & Definitions (J3063:NOV2015).
49 U.S.C. § 30102(a)(6) (definition of motor vehicle).
Gasser, Tom et al. “Legal consequences of an increase in vehicle automation”, July 23, 2013, available at http://bast.opus.hbz-nrw.de/volltexte/2013/723/pdf/Legal_consequences_of_an_increase_in_vehicle_automation.pdf.
Michon, J.A., 1985. A CRITICAL VIEW OF DRIVER BEHAVIOR MODELS: WHAT DO WE KNOW, WHAT SHOULD WE DO? In L. Evans & R. C. Schwing (Eds.). Human behavior and traffic safety (pp. 485-520). New York: Plenum Press, 1985.
Crash Avoidance Metrics Partnership – Automated Vehicle Research Consortium, “Automated Vehicle Research for Enhanced Safety – Final Report,” (in publication).
National Highway Traffic Safety Administration. “Preliminary Statement of Policy Concerning Automated Vehicles,”, May 30, 2013, available at http://www.nhtsa.gov/About+NHTSA/Press+Releases/U.S.+Department+of+Transportation+Releases+ Policy+on+Automated+Vehicle+Development.
Smith, Bryant Walker. Engineers and Lawyers Should Speak the Same Robot Language, in ROBOT LAW (2015), available at https://newlypossible.org. 在本规范规定的范围内，下列出版物构成本规范的一部分。除非另有说明，否则应采用最新一期的SAE出版物。
2.1适用的文件
J670车辆动力学术语(J670: 2008年1月)。
主动安全系统术语和定义(J3063: 2015年11月)。
49 U.S.C.§30102(a)(6)(机动车的定义)。
Gasser, Tom等人，“汽车自动化程度提高的法律后果”，2013年7月23日，http://bast.opus.hbz-nrw.de/volltexte/2013/723/pdf/Legal_consequences_of_an_increase_in_vehicle_automation.pdf。
(J.A。1985。对驾驶员行为模型的批判观点:我们知道什么，我们应该做什么?L. Evans & R. C. Schwing(编)。人类行为与交通安全(第485-520页)。纽约:全会出版社，1985年。
碰撞规避度量伙伴关系-自动车辆研究联盟，“提高安全性的自动车辆研究-最终报告”(已出版)。
国家公路交通安全管理局。“关于自动驾驶汽车政策的初步声明”，2013年5月30日，可在http://www.nhtsa.gov/About+NHTSA/Press+Releases/U.S.+Department+of+Transportation+Releases+政策+on+自动驾驶+车辆+发展。
史密斯,科比沃克。《机器人法》(2015)中，工程师和律师应该使用相同的机器人语言，详见https://newlypossible.org。
3. DEFINITIONS 定义
3.1 ACTIVE SAFETY SYSTEM (SAE J3063:NOV2015) 主动安全系统(SAE J3063: 2015年11月)
Active safety systems are vehicle systems that sense and monitor conditions inside and outside the vehicle for the purpose of identifying perceived present and potential dangers to the vehicle, occupants, and/or other road users, and automatically intervene to help avoid or mitigate potential collisions via various methods, including alerts to the driver, vehicle system adjustments, and/or active control of the vehicle subsystems (brakes, throttle, suspension, etc.).
NOTE: For purposes of this report, systems that meet the definition of active safety systems are considered to have a design purpose that is primarily focused on improving safety rather than comfort, convenience or general driver assistance. Active safety systems warn or intervene during a high risk event or maneuver. 主动安全系统是车辆系统和监控条件下,内部和外部的车辆为目的的确定感知车辆现在和潜在的危险,人,和/或其他道路使用者,并自动进行干预,通过各种方法帮助避免或减轻潜在的碰撞,包括提醒司机,车辆系统调整,和/或车辆的主动控制子系统(刹车,油门、悬架等)。
注:本报告认为，符合主动安全系统定义的系统的设计目的主要是提高安全性，而不是舒适性、便利性或一般的驾驶辅助。主动安全系统在高风险事件或机动时发出警告或进行干预。
3.2 AUTOMATED DRIVING SYSTEM (ADS) 自动驾驶系统(ADS)
The hardware and software that are collectively capable of performing the entire DDT on a sustained basis, regardless of whether it is limited to a specific operational design domain (ODD); this term is used specifically to describe a level 3, 4, or 5 driving automation system.
NOTE: In contrast to ADS, the generic term “driving automation system” (see 3.5) refers to any level 1-5 system or feature that performs part or all of the DDT on a sustained basis. Given the similarity between the generic term, “driving automation system,” and the level 3-5-specific term, “Automated Driving System,” the latter term should be capitalized when spelled out and reduced to its acronym, ADS, as much as possible, while the former term should not be.
Downloaded from SAE International by Lin Liu, Thursday, November 24, 2016 能够持续执行整个DDT的硬件和软件，而不管是否被限制在特定的操作设计领域(ODD);这个术语专门用来描述3级、4级或5级驾驶自动化系统。
注:与ADS不同，通用术语“驾驶自动化系统”(见3.5)是指任何1-5级系统或功能，可持续执行部分或全部的DDT。考虑到通用术语“驾驶自动化系统”和3-5级专用术语“自动驾驶系统”之间的相似性，后者在拼写时应大写，并尽可能简化为其首字母缩写ADS，而前者则不应如此。
2016年11月24日(星期四)，刘林从SAE International下载
3.3 ADS-DEDICATED VEHICLE (ADS-DV) ADS-DEDICATED车辆(ADS-DV)
A vehicle designed to be operated exclusively by a level 4 or level 5 ADS for all trips.
NOTE 1: An ADS-DV is a truly “driverless” vehicle. However, the term “driverless vehicle” is not used herein because it has been, and continues to be, widely misused to refer to any vehicle equipped with a driving automation system, even if that system is not capable of always performing the entire DDT and thus involves a (human) driver for part of a given trip. This is the only category of ADS-operated vehicle that requires neither a conventional nor remote driver during routine operation.
NOTE 2: An ADS-DV might be designed without user interfaces, such as braking, accelerating, steering, and transmission gear selection input devices designed to be operable by a human driver.
NOTE 3: A level 4 ADS-DV by design does not operate outside of its ODD (subject to note 4 below).
NOTE 4: ADS-DVs might be operated temporarily by a conventional or remote driver: 1) to manage transient deviations from the ODD, 2) to address a system failure or 3) while in a marshalling yard before being dispatched.
EXAMPLE 1: A level 4 ADS-DV designed to operate exclusively within a corporate campus where it picks up and discharges passengers along a specific route specified by the ADS-DV dispatcher.
EXAMPLE 2: A level 4 ADS-DV designed to operate exclusively within a geographically prescribed central business district where it delivers parts and supplies using roads (but not necessarily routes) specified by the ADS-DV dispatcher.
EXAMPLE 3: A level 5 ADS-DV capable of operating on all roads that are navigable by a human driver. The user simply inputs a destination, and the ADS-DV automatically navigates to that destination. 一种专为4级或5级ADS设计的车辆。
注1:ADS-DV是真正的“无人驾驶”车辆。然而,此处使用的术语“无人驾驶车辆”不是因为它,并继续,广泛滥用指任何车辆配备驾驶自动化系统,即使这系统不能够总是执行整个DDT,因此涉及到(人类)驱动程序给定行程的一部分。这是唯一一类在日常操作中既不需要传统驾驶员也不需要远程驾驶员的ads操作车辆。
注2:ADS-DV的设计可能没有用户界面，如制动、加速、转向和传动齿轮选择输入设备设计为可由人类驾驶员操作。
注3:4级ADS-DV的设计不能在奇数之外运行(参照下面的注释4)。
注4:ADS-DVs可能由传统或远程驱动程序临时操作:1)管理临时偏差，2)处理系统故障，或3)调度前在编组场中。
例1:一个4级ADS-DV专门设计在公司园区内运行，它沿着ADS-DV调度员指定的特定路线载客和卸货。
例2:4级ADS-DV专门设计在地理规定的中央商务区内运行，通过ADS-DV调度员指定的道路(但不一定是路线)运送部件和供应品。
例子3:一个5级ADS-DV能够在所有道路上运行，由人类驾驶员导航。用户只需输入一个目的地，ADS-DV就会自动导航到该目的地。
3.4 DRIVING AUTOMATION 驾驶自动化
The performance of part or all of the DDT on a sustained basis. The performance of part or all of the DDT on a sustained basis.
3.5 DRIVING AUTOMATION SYSTEM or TECHNOLOGY 驱动自动化系统或技术
The hardware and software that are collectively capable of performing part or all of the DDT on a sustained basis; this term is used generically to describe any system capable of level 1-5 driving automation.
NOTE: In contrast to this generic term for any level 1-5 system, the specific term for a level 3-5 system is “Automated Driving System (ADS).” Given the similarity between the generic term, “driving automation system,” and the level 3-5-specific term, “Automated Driving System,” the latter term should be capitalized when spelled out and reduced to its acronym, ADS, as much as possible, while the former term should not be. (See 3.2) 能够持续执行部分或全部DDT的硬件和软件;这个术语一般用于描述任何能够达到1-5级驾驶自动化的系统。
注:与通用的1-5级系统不同，3-5级系统的具体术语是“自动驾驶系统(ADS)”。鉴于通用术语“驾驶自动化系统”(driving automation system)和3-5级专用术语“自动驾驶系统”(Automated driving system)之间的相似性，后者在拼出来时应该大写，并尽可能缩写成ADS，而前者则不应该这样。(见3.2)
3.6 DRIVING AUTOMATION SYSTEM] FEATURE or APPLICATION 驱动自动化系统特点或应用
A driving automation system’s design-specific functionality at a specific level of driving automation within a particular ODD.
NOTE 1: A given driving automation system may have multiple features, each associated with a particular level of driving automation and ODD.
NOTE 2: Each feature satisfies a usage specification.
NOTE 3: Features may be referred to by generic names (e.g., automated parking) or by proprietary names.
EXAMPLE 1: A level 3 ADS feature that performs the DDT, excluding DDT fallback, in high-volume traffic on fully access-controlled freeways.
EXAMPLE 2: A level 4 ADS feature that performs the DDT, including DDT fallback, in a specified geo-fenced urban center. 一个驱动自动化系统的设计特定的功能，在一个特定的奇内驱动自动化的特定级别。
注1:一个给定的驾驶自动化系统可能有多个特征，每个特征与一个特定的驾驶自动化水平和奇数相关联。
注2:每个特性都满足一个使用规范。
注3:功能可以用通用名称(如自动停车)或专有名称来指代。
例子1:在完全控制访问的高速公路上的高流量交通中，3级广告功能执行DDT(不包括DDT撤退)。
例子2:在特定的地理围栏城市中心，4级ADS功能执行DDT，包括DDT撤退。
