3.18 RECEPTIVITY (OF THE USER) (用户的)接受能力
An aspect of consciousness characterized by a person’s ability to reliably and appropriately focus his/her attention in response to a stimulus.
NOTE 1: In level 0-2 driving automation, the driver is expected to be receptive to evident vehicle system failures, such as a broken tie rod.
NOTE 2: In level 3 driving automation, a DDT fallback-ready user is considered to be receptive to a request to intervene and/or to an evident vehicle system failure, whether or not the ADS issues a request to intervene as a result of such a vehicle system failure.
NOTE 3: Monitoring includes receptivity. 意识的一个方面，其特征是一个人在受到刺激时能够可靠地、适当地集中注意力。
注1:在0-2级驾驶自动化中，驾驶员应能接受明显的车辆系统故障，如断裂的拉杆。
注2:在3级驾驶自动化中，DDT后备用户被认为接受干预请求和/或明显的车辆系统故障，无论广告是否发出干预请求作为车辆系统故障的结果。
注3:监测包括接受能力。
EXAMPLE 1: While a level 3 ADS is performing the DDT in stop-and-go traffic, the left-front tie rod breaks. The DDT fallback-ready user feels that the vehicle has pulled dramatically to the left and intervenes in order to move the vehicle onto the road shoulder.
EXAMPLE 2: While a level 3 ADS is performing the DDT on a free-flowing highway, the left side mirror glass falls out of the housing. The DDT fallback-ready user, while receptive, does not and is not expected to notice this failure, because it is not apparent. 例子1:当关卡3的ADS在走走停停的交通中执行DDT时，左前拉杆断了。准备使用DDT的用户认为车辆急剧向左拉，并进行干预，以便将车辆移到路肩上。
例子2:当一个关卡3的ADS在一个自由流动的高速公路上执行DDT时，左侧的镜子玻璃从外壳中掉了出来。DDT备用用户，虽然接受，但不会也不会注意到这个失败，因为它不明显。
3.19 REQUEST TO INTERVENE 请求干预
Notification by an ADS to a driver indicating that s/he should promptly perform the DDT fallback. 广告通知司机，指示他/她应立即执行DDT补救措施。
3.20 SUPERVISE (DRIVING AUTOMATION SYSTEM PERFORMANCE) 监督(驾驶自动化系统性能)
The driver activities, performed while operating a vehicle with an engaged level 1 or 2 driving automation system, to monitor the driving automation system’s performance, respond to inappropriate actions taken by that system, and to otherwise complete the DDT.
EXAMPLE: A driver notices that an engaged adaptive cruise control (ACC) system is not maintaining headway to a preceding vehicle in a curve and brakes accordingly. 驾驶人在驾驶1级或2级自动驾驶系统的车辆时所进行的活动，以监察自动驾驶系统的表现，对该系统采取的不适当行动作出反应，以及完成DDT。
例如:一名司机注意到，一辆自适应巡航控制(ACC)系统在弯道上没有保持前车的车头时距，于是就相应地刹车。
3.21 SUSTAINED (OPERATION OF A VEHICLE) 持续(车辆的操作)
Performance of part or all of the DDT both between and across external events, including responding to external events and continuing performance of part or all of the DDT in the absence of external events.
NOTE 1: External events are situations in the driving environment that necessitate a response by a driver or driving automation system (e.g., other vehicles, lane markings, traffic signs).
NOTE 2: Sustained performance of part or all of the DDT by a driving automation system changes the user’s role. (See Scope for discussion of roles.) By contrast, an automated intervention that is not sustained according to this definition does not qualify as driving automation. Hence, systems that provide momentary intervention in lateral and/or longitudinal vehicle motion control but do not perform any part of the DDT on a sustained basis (e.g., anti-lock brake systems, electronic stability control, automated emergency braking) are not classifiable (other than at level 0) under the J3016 taxonomy.
NOTE 3: Conventional cruise control does not provide sustained operation because it does not respond to external events. It is therefore also not classifiable (other than at level 0) under the J3016 taxonomy. 在外部事件之间和外部事件之间执行部分或全部DDT，包括对外部事件的响应和在没有外部事件的情况下继续执行部分或全部DDT。
注1:外部事件是驾驶环境中需要司机或驾驶自动化系统作出响应的情况(例如，其他车辆、车道标记、交通标志)。
注2:驾驶自动化系统持续使用部分或全部DDT会改变用户的角色。(请参阅角色讨论的范围。)相比之下，没有按照这一定义持续进行的自动干预就不符合驾驶自动化的标准。因此，在横向和/或纵向车辆运动控制中提供瞬间干预但不执行DDT的任何部分的系统(例如，防抱死制动系统，电子稳定控制，自动紧急制动)不属于J3016分类(0级除外)。
注3:常规巡航控制不能提供持续运行，因为它不能对外部事件作出反应。因此，它也不能按照J3016分类法分类(除了0级)。
3.22 TRIP 旅行
The traversal of an entire travel pathway by a vehicle from the point of origin to a destination.
NOTE: Performance of the DDT during a given trip may be accomplished in whole or in part by a driver, driving automation system, or both.
从起点到终点的整个旅行路径。
注:在给定的行程中，DDT的性能可以由司机或驾驶自动化系统全部或部分完成，或两者同时完成。
3.23 USAGE SPECIFICATION 使用规范
A particular level of driving automation within a particular ODD.
EXAMPLE 1: Level 3 driving automation in high-volume traffic on designated fully access-controlled freeways.
EXAMPLE 2: Level 4 driving automation in designated urban centers.
NOTE 1: Each feature satisfies a usage specification. 一个特定奇数内的特定级别的驾驶自动化。
例1:在指定的完全入口控制的高速公路上，高流量交通中的3级驾驶自动化。
例子2:指定城市中心的四级驾驶自动化。
注1:每个特性都满足一个使用规范。
3.24 (HUMAN) USER 人类 用户
A general term referencing the human role in driving automation.
NOTE 1: The following four terms (1 – driver, 2 – passenger, 3 – DDT fallback-ready user, and 4 - dispatcher) describe categories of (human) users.
NOTE 2: These human categories define roles that do not overlap and may be performed in varying sequences during a given trip. 指的是在驾驶自动化过程中人类所扮演的角色。
注1:以下四个术语(1 -驾驶员，2 -乘客，3 - DDT后备用户和4 -调度员)描述了(人类)用户的类别。
注2:这些人类类别定义的角色不重叠，并且在给定的旅程中可以以不同的顺序执行。
3.24.1 DRIVER 司机
A user who performs in real-time part or all of the DDT and/or DDT fallback for a particular vehicle.
NOTE: In a vehicle equipped with a driving automation system, a driver may assume or resume performance of part or all of the DDT from the driving automation system during a given trip.
对特定车辆实时执行部分或全部DDT和/或DDT回退的用户。
注:在配备自动驾驶系统的车辆中，司机可以在给定的行程中承担或恢复自动驾驶系统的部分或全部DDT的性能。
3.24.1.1 (CONVENTIONAL) DRIVER
A driver who manually exercises in-vehicle braking, accelerating, steering, and transmission gear selection input devices in order to operate a vehicle.
NOTE: A conventional driver is assumed to be seated in what is normally referred to as “the driver’s seat” in automotive contexts, which is a unique seating position that makes in-vehicle input devices (steering wheel, brake and accelerator pedals, gear shift) accessible to a (human) driver.
3.24.1.1(传统)驱动程序
驾驶员为操作车辆而手动操作车辆的刹车、加速、转向和选择传动齿轮输入装置的驾驶员
注意:在汽车领域，传统的驾驶员通常被认为是坐在“驾驶员座位”上，这是一个独特的座位位置，使(人类)驾驶员可以方便地使用车内输入设备(方向盘、刹车、油门踏板、变速杆)。
3.24.1.2 REMOTE DRIVER
A driver who is not seated in a position to manually exercise in-vehicle braking, accelerating, steering, and transmission gear selection input devices (if any) but is able to operate the vehicle.
NOTE 1: A remote driver can include a user who is within the vehicle, within line of sight of the vehicle, or beyond line of sight of the vehicle.
NOTE 2: A remote driver is not the same as a dispatcher (see 3.24.4), although a dispatcher may become a remote driver if s/he has the means to operate the vehicle remotely.
NOTE 3: A remote driver does not include a person who merely creates driving-relevant conditions that are sensed by, or communicated to, the ADS (e.g., a police officer who announces over a loudspeaker that a particular stop sign should be ignored; another driver who flashes her head lamps to encourage overtaking, or a pedestrian using a DSRC system to announce her presence).
EXAMPLE 1: A level 2 automated parking feature allows the remote driver to exit the vehicle near an intended parking space and to cause the vehicle to move into the parking space automatically by pressing and holding a special button on the key fob, while s/he is monitoring the driving environment to ensure that no one and nothing enters the vehicle pathway during the parking maneuver. If, during the maneuver, a dog enters the pathway of the vehicle, the remote driver releases the button on the key fob in order to cause the vehicle to stop automatically. (Note that the remote driver in this level 2 example completes the OEDR subtask of the DDT during the parking maneuver.)
EXAMPLE 2: This example is identical to Example 1, except that the remote driver is sitting in the back seat, rather than standing outside the vehicle.
EXAMPLE 3: A level 4 closed campus delivery vehicle that has experienced a DDT performance-relevant system failure, which forced it to resort to a minimal risk condition by parking on the side of a campus roadway, is returned to its designated marshalling yard by a remote driver who is able to operate the vehicle using wireless means.
3.24.1.2远程驱动程序
没有坐到可以手动操作车辆刹车、加速、转向和变速箱选择输入设备(如果有的话)但能够操作车辆的司机。
注1:远程驾驶员可包括在车辆内、在车辆视线范围内或在车辆视线之外的用户。
注2:远程驱动程序与调度员不同(见3.24.4)，但如果调度员有能力远程操作车辆，也可以成为远程驱动程序。
注3:远程司机并不包括仅仅根据广告感应或传达广告而制造与驾驶有关的情况的人(例如警察透过扬声器宣布应忽略某一特定的停车标志;另一个司机闪灯鼓励超车，或者一个行人使用DSRC系统宣布她的存在)。
示例1:2级自动停车功能允许远程驱动程序退出一个停车位和附近的车辆导致车辆进入停车场自动按关键fob和举行一个特殊的按钮,当他/她监控驾驶环境,以确保没有人,没有进入停放机动车辆路径。如果在操控过程中，一只狗进入了车辆的通道，远程驾驶员就会松开钥匙链上的按钮，使车辆自动停车。(请注意，在这个级别2的示例中，远程驱动程序在停车操作期间完成了DDT的OEDR子任务。)
例2:这个例子和例1是一样的，除了远程驾驶是坐在后座，而不是站在车外。
示例3:一个四级封闭校园运载工具,经历了DDT performance-relevant系统故障,迫使它诉诸最小风险条件由校园道路停车的返回给其指定的铁路货运编组站通过远程司机能够操作车辆使用无线方式。
3.24.2 PASSENGER 乘客
A user in a vehicle who has no role in the operation of that vehicle.
NOTE: A passenger cannot be remote to the vehicle in which s/he is a passenger.
EXAMPLE 1: The person seated in the driver’s seat of a vehicle equipped with a level 4 ADS feature designed to automate high-speed vehicle operation on controlled-access freeways is a passenger while this level 4 feature is engaged. This same person, however, is a driver before engaging this level 4 ADS feature and again after disengaging the feature in order to exit the controlled access freeway.
EXAMPLE 2: The in-vehicle users of a closed-campus shuttle on a university campus equipped with an engaged level 4 ADS are passengers.
EXAMPLE 3: The in-vehicle users of a level 5 ADS-equipped vehicle are passengers whenever the level 5 ADS is engaged.
在车辆中没有参与车辆操作的使用者。
注意:乘客不能远离其所在的车辆。
例1:在一辆配备了4级ADS功能的汽车上，当这个4级ADS功能被使用时，坐在驾驶员座位上的人是乘客。然而，同一个人在使用第4关卡广告功能之前是一名司机，在为了离开高速公路而退出该功能之后也是如此。
例子2:在大学校园里，一个封闭的校园穿梭车里，配备了一个参与四级广告的乘客。
例子3:装备了5级ADS的车辆的车内用户是乘客，只要5级ADS被使用。
3.24.3 (DDT) FALLBACK-READY USER (DDT)备用用户
The user of a vehicle equipped with an engaged level 3 ADS feature who is able to operate the vehicle and is receptive to ADS-issued requests to intervene and to evident DDT performance-relevant system failures in the vehicle compelling him or her to perform the DDT fallback.
NOTE 1: DDT performance by a level 3 ADS assumes that a DDT fallback-ready user is available to perform the DDT as required. There is no such assumption at levels 4 and 5.
NOTE 2: A DDT fallback-ready user who transitions to performing part or all of the DDT becomes a driver.
NOTE 3: A DDT fallback-ready user may be remote to the ADS-equipped vehicle for which s/he serves as the DDT fallback-ready user.
EXAMPLE: A level 3 ADS that is performing the DDT in congested traffic on a freeway encounters emergency responders who are rerouting traffic to the exit due to a serious crash; the ADS issues a request to intervene to the DDT fallback-ready user instructing him or her to resume performing the DDT (i.e., to become a driver).
配备了3级ADS功能的车辆的用户，能够操作车辆，并能接受ADS发出的干预请求，以及明显的与DDT性能相关的系统故障，迫使他或她执行DDT后备方案。
注1:3级ADS的DDT性能假设一个DDT后备用户可以根据需要执行DDT。在第4级和第5级则没有这样的假设。
注2:切换到执行部分或全部DDT的后备用户成为司机。
注3:DDT后备用户可以远程到其作为DDT后备用户使用的装有ads的车辆。
例子:在高速公路拥堵的交通中执行DDT的3级广告遇到了紧急响应人员，他们由于严重的撞车事故而将交通改道到出口;广告向DDT后备用户发出了干预请求，指示他或她继续执行DDT(即，成为一名司机)。
3.24.4 (ADS-EQUIPPED VEHICLE) DISPATCHER (配备ads的车辆)调度员
A user(s) who verifies the operational readiness of the vehicle and ADS and engages or disengages the ADS.
NOTE 1: Unless the destination(s) is pre-programmed in the ADS, a dispatcher may also specify the destination(s).
NOTE 2: Only vehicles equipped with a level 4 or 5 ADS designed to operate a vehicle throughout a trip are potentially subject to being dispatched.
NOTE 3: Ensuring operational readiness includes such things as ensuring that conspicuity systems are clean and working, maintaining correct tire pressure and fluid levels, as well as ensuring that on-board diagnostic system checks for the vehicle and ADS indicate the absence of a DDT performance-relevant system failure.
EXAMPLE: A level 4 closed campus delivery vehicle that has experienced a DDT performance-relevant system failure, which forced it to resort to a minimal risk condition by parking on the side of a campus roadway, is returned to its marshalling yard by a dispatcher who becomes a remote driver and is able to perform the DDT using wireless means.
验证车辆和广告的运行就绪状态并参与或退出广告的用户。
注1:除非目的地在ADS中被预先编程，dispatcher也可以指定目的地。
注2:只有装备了4级或5级ADS的车辆才有可能被派遣。
注3:确保操作就绪包括确保显著性系统清洁和工作，保持正确的胎压和液面，以及确保车辆和ADS的车载诊断系统检查表明没有DDT性能相关的系统故障。
例子:一个四级封闭校园运载工具,经历了DDT performance-relevant系统故障,迫使它诉诸最小风险条件由校园道路停车的返回给其铁路货运编组站的调度器成为远程驱动和能够执行DDT使用无线方式。
3.25 VEHICLE 车辆
A machine designed to provide conveyance on public streets, roads, and highways.
NOTE: As used in this document, vehicle refers to motorized vehicles and excludes those operated only on rail lines. For reference, 49 U.S.C. § 30102(a)(6) defines motor vehicle as follows: “motor vehicle means a vehicle driven or drawn by mechanical power and manufactured primarily for use on public streets, roads, and highways, but does not include a vehicle operated only on a rail line.” 在公共街道、道路和高速公路上提供运输的机器。
注:本文件所称车辆指机动车辆，不包括仅在铁路上行驶的车辆。参照49 U.S.C.§30102(a)(6)对机动车辆的定义如下:“机动车辆是指主要用于公共街道、道路和高速公路的机械驱动或牵引的车辆，但不包括仅在铁路上运行的车辆。”
4. TAXONOMY OF DRIVING AUTOMATION
The terms defined above inform a taxonomy of driving automation consisting of six discrete and mutually exclusive levels (see section 8.2). Central to this taxonomy are the respective roles of the (human) user and the driving automation system in relation to each other. Because changes in the functionality of a driving automation system change the role of the (human) user, they provide a basis for categorizing such systems. For example:
If the driving automation system performs the sustained longitudinal and/or lateral vehicle motion control subtasks of the DDT, the driver does not do so, although s/he is expected to complete the DDT. This division of roles corresponds to levels 1 and 2.
If the driving automation system performs the entire DDT, the user does not do so. However, if a DDT fallback-ready user is expected to take over the DDT when a DDT performance-relevant system failure occurs or when the driving automation system is about to leave its operational design domain (ODD), then that user is expected to be receptive and able to resume DDT performance when alerted to the need to do so. This division of roles corresponds to level 3.
Lastly, if a driving automation system can perform the entire DDT and DDT fallback either within a prescribed ODD or in all driver-manageable on-road driving situations (unlimited ODD), then any users present in the vehicle while the ADS is engaged are passengers. This division of roles corresponds to levels 4 and 5.
上面定义的术语将自动驾驶分为六个独立且互斥的级别(见8.2节)。这种分类法的中心是(人类)用户和驾驶自动化系统各自的角色。因为驱动自动化系统的功能变化会改变(人类)用户的角色，所以它们为分类这样的系统提供了基础。例如:
如果驾驶自动化系统执行持续的纵向和/或横向车辆运动控制的DDT的子任务，司机不这样做，尽管他/她被期望完成DDT。这种角色划分对应于级别1和级别2。
如果驾驶自动化系统执行整个DDT，用户不这样做。然而,如果DDT fallback-ready用户预计将接管DDT DDT performance-relevant系统故障发生时或者当驾驶自动化系统即将离开其操作设计域(ODD),然后用户预计将接受和能够恢复DDT性能当提醒需要这样做。这种角色划分对应于级别3。
最后，如果驾驶自动化系统可以在规定的奇数或所有司机可管理的道路驾驶情况下(无限奇数)执行整个DDT和DDT后退，那么在广告参与时，车辆中的任何用户都是乘客。这种角色划分对应于级别4和级别5。
The vehicle also fulfills a role in this driving automation taxonomy, but the role of the vehicle does not change the role of the user in performing the DDT.
In this way, driving automation systems are categorized into levels based on:
1. Whether the driving automation system performs either the longitudinal or the lateral vehicle motion control subtask of the DDT.
2. Whether the driving automation system performs both the longitudinal and the lateral vehicle motion control subtasks of the DDT simultaneously.
3. Whether the driving automation system also performs the OEDR subtask of the DDT.
4. Whether the driving automation system also performs DDT fallback.
5. Whether the driving automation system is limited by an ODD.
Table 1 (below) summarizes the six levels of driving automation in terms of these five elements. 在驾驶自动化分类中，车辆也扮演一个角色，但车辆的角色并不改变用户在执行DDT时的角色。
通过这种方式，驱动自动化系统被分为以下级别:
1. 驾驶自动化系统是否执行纵向或横向车辆运动控制的DDT子任务。
2. 驱动自动化系统是否同时执行DDT的纵向和横向车辆运动控制子任务。
3.驱动自动化系统是否也执行DDT的OEDR子任务。
4. 驾驶自动化系统是否也会执行DDT回退。
5. 驱动自动化系统是否受到奇数的限制。
表1(下表)从这五个方面总结了驾驶自动化的六个级别。
Table 1 - Summary of levels of driving automation
SAE’s levels of driving automation are descriptive and informative, rather than normative, and technical rather than legal. Elements indicate minimum rather than maximum capabilities for each level. In this table, “system" refers to the driving automation system or Automated Driving System (ADS), as appropriate.
表1 -驾驶自动化水平的摘要
SAE的驾驶自动化水平是描述性和知识性的，而不是规范性的，技术性的而不是法律的。元素表示每个级别的最小而不是最大能力。本表中“系统”指驾驶自动化系统或自动驾驶系统(ADS)，视情况而定。
持续的横向和纵向车辆运动控制、OEDR、DDT fallback、ODD
0、没有驾驶自动化
整个DDT的性能由驾驶员决定，即使主动安全系统增强了性能。
1、驾驶员辅助
驾驶自动化系统持续执行车辆横向或纵向运动控制任务(但不能同时执行)，并期望驾驶员执行剩余的运动控制任务。
2、部分驱动自动化
驾驶自动化系统对车辆横向运动控制和纵向运动控制的子任务进行持续和奇数特定的执行，期望驾驶员完成OEDR子任务并监督驾驶自动化系统。
3、有条件的驾驶自动化
一个ADS对整个DDT的持续和特定的性能，期望DDT后备用户能够接受ADS发出的干预请求，以及其他车辆系统中与DDT性能相关的系统故障，并将作出适当的响应。
4、高度驾驶自动化
通过一个完整的DDT和DDT后备广告的持续和特定的性能，而不期望用户会响应干预请求。
5、全驾驶自动化
持续的和无条件的(也就是，不是特定于奇数的)执行一个完整的DDT和DDT的广告，而不期望用户会响应一个干预的请求。
Figure 8 - Simplified logic flow diagram for assigning driving automation level to a feature
图8 -为一个特性分配驱动自动化级别的简化逻辑流程图
执行完整的DDT和DDT回退没有ODD的限制?
→全自动驾驶，5级
执行完整的DDT和DDT回退，在一个有限的ODD范围内?
→高度动自动化，4级
执行完整的DDT，但不执行DDT回退，在一个有限的ODD范围内?
→有条件的自动化，3级
执行纵向和横向车辆运动控制(在持续的基础上)，但不完成OEDR?
→部分的自动化，2级
执行纵向或横向车辆运动控制(在持续的基础上)，但不完成OEDR?
→驾驶员辅助，1级
执行没有DDT或者DDT回退？
→没有驱动自动化，0级
Figure 8 shows a simplified logic diagram for classifying driving automation features. Note that the information required to answer the questions posed in this figure cannot be empirically derived (see 8.1).
Table 2 (below) details the six levels of driving automation with reference to the roles (if any) that the user and the driving automation system play in performing the DDT and the DDT fallback. (NOTE: This assignment of roles refers to technical aspects of vehicle operation rather than to legal aspects.)
The descriptions provided in column 2 of Table 2 indicate the role (if any) of the user in performing part or all of the DDT and/or performing the DDT fallback, while the descriptions provided in column 3 indicate the role (if any) of the driving automation system in performing the same. As in Table 1, "system" refers to the driving automation system or ADS, as appropriate.
Note that the foregoing roles are determined by the design of the driving automation system in combination with the instructions provided to the user, regardless of malfunction in a particular driving automation system or a user’s mis-performance of their role in a given circumstance. (See 8.1.) 图8显示了对驱动自动化特性进行分类的简化逻辑图。注意，回答本图中所提出的问题所需的资料不能根据经验得出(见8.1)。
表2(下)详细列出了驾驶自动化的六个级别，并参照用户和驾驶自动化系统在执行DDT和DDT后备方案时所扮演的角色(如果有的话)。(注:此角色分配是指车辆运营的技术方面，而不是法律方面。)
提供的描述在表2的第2列中显示用户的角色(如果有的话)在执行部分或全部执行DDT的DDT和/或回退,而第三列中提供的描述显示的作用(如果有的话)驾驶自动化系统在执行相同的。如表1所示，“系统”指的是驾驶自动化系统或ADS(视情况而定)。
请注意，上述角色是由驱动自动化系统的设计和提供给用户的说明共同决定的，无论在特定的驱动自动化系统中发生故障或用户在给定的环境中错误地执行其角色。(参见8.1)。
