Consensus Safety Measurement 

Methodologies for ADSEquipped Vehicles

June 25-26, 2019

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SAE INTERNATIONAL

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GLOBAL GROUND VEHICLE STANDARDS

Advanced Technology 

Standards Activities

Edward Straub, DM

Director

Office of Automation

SAE INTERNATIONAL
3

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SAE Standards in Advanced Technology Focus Areas

Wireless Charging

Vehicle Electronics 

Cyber Security

Driving Automation 

Systems

Driver-Vehicle Interface

Active Safety Functional Safety Shared Mobility

Mobility for Elderly and 

Persons with Disabilities

EV/Hybrid/FC Vehicle

& Battery

Intelligent Transport 

Systems

Electronics System Reliability

Connected Vehicles
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SAE ADAS Vehicle Standards Activities

Active Safety 

Systems 

Standards

Committee

Active Safety 

Test Target 

Validation 

Correlation 

Task force

Active Safety 

Bicycle Test 

Targets Task 

Force

Vehicle Lane 

Deviation 

Warning Task 

Force

Hardware-inthe-Loop 

Task Force

Standards focus has shifted from 

Passive Safety to collision mitigation:

 Electronic Stability Control

 Traction Control

 Adaptive Cruise Control

 Forward Collision Warning

 Rear Collision Warning

 Lane Departure Warning 

 Crash Imminent Braking

 Blind Spot Detection

 Adaptive Headlamps
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SAE Automated Vehicle Standards Activities

On-Road 

Automated 

Driving (ORAD)

Committee

Definitions 

Task Force

Planning 

Task Force

Verification 

and 

Validation

Task Force

Reference 

Architecture 

Interfaces

Task Force

ADS-DV User 

Issues for 

Persons with 

Disabilities

Task Force

On Road 

Automated 

Driving 

Maneuver

Task Force

ADS Testing

Task Force

J3018

Task Force

Infrastructure 

Needs Related 

to Automated 

Driving ORAD

Task Force

Scope:

Taxonomy 

for motor 

vehicle 

driving 

automation 

systems that 

perform part 

or all of the 

dynamic 

driving task 

on a 

sustained 

basis

Scope:

Coordinates 

with other 

SAE 

committees 

and with 

external 

organizations 

doing 

complementar

y work, 

including ISO, 

UNECE, 

NHTSA, IEEE, 

ULC 

Scope:

Information 

and guidelines 

for verification 

and validation 

(V&V) of 

Automated 

Driving 

Systems (ADS). 

Scope:

automated 

driving 

reference 

architecture 

that contains 

functional 

modules 

supporting 

future 

application 

interfaces for 

Levels 3 

through 5

Scope:

gather and 

develop 

information on 

user issues 

specific to this 

population of 

ADS-DV users

Scope:

Define 

information, 

best 

practices, and 

standards for 

maneuvers of 

on road 

automated 

driving 

systems 

(ADSs) for 

automation 

levels 3, 4, 5

Scope:

Gathering 

point for the 

ADS Testing 

project

Scope:

general safetyrelevant 

guidelines for 

performing 

tests of 

prototype 

automated 

driving systems 

(ADSs) 

equipped on 

test vehicles 

operated in 

mixed-traffic 

environments 

on public roads

Scope:

Uniformity of 

design 

Maintenance 

levels

Consistency 

of application 

Optimization 

Environmenta

l conditions

•Markings 

•Signs/ 

signals 

•Work/school 

zones, etc

Definitions 

Task Force

ISO/SAE 

Joint

Driving Skills 

Committee

J3300 ADS Fallback 

Ready Test 

Driver
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ORAD Committee Standards Overview

Standard Description Status / Timing

J3016TM

Recommended Practice: Taxonomy and Definitions for 

Terms Related to Driving Automation Systems for On-Road 

Motor Vehicles

Seminal standard for automated driving systems (ADS) that 

defines key terms and a hierarchy of automation (levels 0-

5). Allows industry to speak with a common language 

about ADS.

Originally published as an information report in 2014. Current

Recommended Practice was published in September 2016. 

A revision was published by June 2018. Associated 1-page 

infographic expected to be issued soon.

Currently being revised jointly with ISO TC204 WG14 to further clarify 

and refine definitions and specifically deepen the Operational Design 

Domain (ODD) definition. May be published by end of 2019.

J3018TM

Information Report: Guidelines for Safe On-Road Testing of 

SAE Level 3, 4, and 5 Prototype Automated Driving Systems 

(ADS)

This document provides guidelines for the safe conduct of 

on-road tests of vehicles equipped with prototype 

conditional, high, and full (levels 3-5) automated driving 

systems (ADSs), as defined by SAE J3016.

Originally Published March 2015. Revision is in balloting now.

The standard was re-opened in April 2018. Updating contents by 

incorporating lessons-learned and making it compatible with related 

standards. Expected publication in 2019.

J3131TM

Recommended Practice: Automated Driving Reference 

Architecture 

Defines an ADS reference architecture that contains 

functional modules supporting future application interfaces 

for Levels 3 through 5 (J3016) with supporting terminology 

and best practices. 

Balloting. The first document, J3131/1 expected publication in 2019. 

ORAD experts anticipate follow-on document parts.

Integrating Cooperative 

Automation Project 

(bridge V2X with ADS)
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ORAD Committee Standards Overview

Standard Description Status / Timing

J3092TM

Information Report: Dynamic Test Procedures for 

Verification and Validation of Automated Driving Systems

In development. Completing literature review of activities for more 

than 20 entities across the world working on automated vehicles. 

Task Force intends for an eventual V&V Recommended Practice, 

but is currently is pursuing an Information Report. 

J3171TM

Information Report: ADS-DV User Issues for Persons with 

Disabilities

It is expected that level 4 and 5 Automated Driving 

System - dedicated vehicles (ADS-DVs) will eventually 

enable persons to travel at will who are otherwise unable 

to obtain a driver's license for a conventional vehicle, 

namely, persons with visual, physical, and/or cognitive 

impairments. 

In development. The information report is being developed 

through literature review (including regulatory requirements, 

research papers and policy statements) and interviews with 

advocacy groups, government agencies, and researchers. 

Publication timing not yet finalized, but potentially by mid-2019.

J3164TM

Taxonomy and Definitions for Terms Related to 

Automated Driving System Behaviors and Maneuvers for 

On-Road Motor Vehicles

Focused on behaviors and maneuvers for ADS for 

automation levels 3 through 5.

In development. Begun in January 2018. The task force will seek to 

codify the behaviors and maneuvers for ADS levels 3-5. Reviewing 

NHTSA documents regarding human drivers and research from 

California PATH and University of Waterloo.

ORAD Committee feels that Variable Performance Testing for ADS 

activities outside of the SAE standards committee structure will 

feed this task force to develop more robust SAE standards. Likely 

stemming from a common approach to developing testing 

scenarios will arise.
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Additional Committee Activity for Developing Automation Standards

Committee Overview

Driving Automation Systems This Technical Committee is responsible for all safety & human factors issues concerning driving 

automation systems and how these new technologies will impact the driving experience. This 

includes any vehicle that involves human operation, either in-vehicle or remotely located, 

transitioning into or out of Level 1 driving automation and above, and/or based on any 

interaction of human road users with driving automation systems. 

J3114- Human Factors Definitions for Automated Driving and Related Research Topics (Dec 

2016)

ADS Logger Task Force The Event Data Recorder Committee established this Task Force to detail ADS data elements and 

definitions that can be gathered in crash or near-crash events in ADS. These additional data 

elements may be those useful for accident reconstruction involving an ADS-equipped vehicle or 

allowing determination of whether further analysis into the ADS system performance or nonADS system performance is needed.

ADS Lamps Task Force Signaling and Marking Devices Standards Committee established this Task Force to develop test 

procedures, performance requirements, and design guidelines for autonomous vehicle lighting 

(J3134).

Driving Skills Committee Drafting J3300 AV Safety Operator endorsement for test drivers (safety operators) on proving 

grounds as a complement to the four skill levels defined in the foundational license.
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V2X Communications Standards Activities

V2X 

Communications 

Steering 

Committee

DSRC 

Technical 

Committee

C-V2X 

Technical 

Committee

Advanced 

Applications 

Technical 

Committee

Security 

Technical 

Committee

Cross-Cutting 

Technical 

Committee

Infrastructure 

Applications 

Technical 

Committee

Traffic Signal 

Applications 

Technical 

Committee

Vehicular 

Applications

Technical 

Committee

Tolling 

Applications

Technical 

Committee

Scope:

DSRC Radio 

accessspecific 

items

Scope:

C-V2X Radio 

accessspecific 

items

Scope:

Lower layerunknown 

applications 

that may 

require new 

communication 

technologies

Scope:

Over the air 

security

Scope:

Common to 

multiple 

applications or 

communication 

technologies

Scope:

Infrastructure 

applications 

that do not 

require traffic 

signal data

Scope:

Infrastructure 

applications 

that require 

traffic signal 

data or 

interface

Scope:

Vehicle 

communication 

needs 

Scope:

Applications 

for tolling 

and financial 

transactions

Reorganized in 2019
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SAE Human Factors Standards Activities

Safety & 

Human Factors

Committee

Driver Metrics, 

Performance, Behaviors 

& States

Driver Vehicle 

Interface (DVI) 

Advanced Driving 

Assistance Systems (ADAS) Automated Driving

Scope:

This Technical Committee is 

responsible for all safety & human 

factors issues that impact the 

driver metrics (e.g., navigation & 

route guidance & calculations, 

driver visual behavior using videobased techniques, operational 

definitions of driving performance 

measures, evaluation approaches 

& metrics, and driver fatigue & 

drowsiness states, etc.). – J2364, 

J2365, J2396, J2944, J3151, and 

more

Scope:

This Technical Committee is 

responsible for all safety & 

human factors issues that impact 

the driver vehicle interface (e.g., 

in-vehicle message priority, invehicle alphanumeric messages, 

comprehension testing, handsfree, speech input, DVI definitions, 

portable device pairing, etc.), but 

is not advanced technology 

related.

J2395, J2830, J2831, J2972, J2988, 

J3077 and more.

Scope:

This Technical Committee is 

responsible for all safety & human 

factors issues that affect a vehicle’s 

advanced technologies (e.g., ACC, FCW, 

BSM, LDW, LKA, vehicle sound, etc.).

J2399, J2400, J2802, J2808, J2889, 

J2889-1, J3048

Scope:

This Technical Committee is 

responsible for all safety & human 

factors issues concerning automated 

vehicles and how these new vehicles 

will impact the driving experience

J3114.
SAE INTERNATIONAL

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Other SAE AV-Related Standards Activities

Cyber Security

SAE Vehicle Electrical System 

Security Committee 

• Vehicle Electrical Hardware 

Security Task Force 

• RFC Cybersecurity Task Force

SAE Vehicle Cybersecurity 

Systems Engineering 

Committee 

• Cybersecurity Assurance Testing 

Task Force 

• Automotive Cybersecurity 

Integrity Level (ACsIL) Task 

Force 

J3061 Cyber Security Guidebook

Shared & Digital 

Mobility

Committee established 2017

• J3163 – Taxonomy and 

Definitions for Terms Related to 

Shared Mobility and Enabling 

Technologies

Next steps:

• Symbols and signage for shared 

mobility

• Data format for data sharing

• Household travel surveys 

Micromobility

Committee established 2018

• Focus on low-speed personal 

mobility devices, technology, and 

systems 

• Not normally subject to the 

United States FMVSS or similar 

regulations

Initial tasks:

• Taxonomy of Micromobility

Devices

• Take up ORAD J3171 ADS-DV 

User Issues for Persons with 

Disabilities
12 Copyright © SAE ITC. Further use or distribution is not 

permitted without permission from SAE ITC

• Vision: Public acceptance of SAE L4/L5 

automated driving systems as a safe and 

beneficial component of transportation through 

industry consensus.

• Mission: The mission of the Automated Vehicle 

Safety Consortium is to quickly establish safety 

principles, common terminology, and best safety 

practices, leading to standards to engender 

public confidence in the safe operation of SAE 

L4/L5 light duty passenger/cargo on-road vehicles

ahead of their widespread deployment.
13 Copyright © SAE ITC. Further use or distribution is not 

permitted without permission from SAE ITC

• Prioritized safety principles

• Identify and agree upon key considerations for the deployment of AVs on public roads

• Technology neutral

• Initial themes:

1. Testing: Before deploying vehicles on public roads, there are testing processes and human aspects to be 

considered. VSSAs are a good start, but we believe there is a greater level of detail in certain areas 

that companies can provide in a common way that can engender public confidence and raise the bar for 

transparency. 

2. Interaction: AVs will interact with humans on board the vehicle as well as other road users when they 

participate in the transportation system. Consistency will help humans be better prepared to interact with 

AVs.

3. Data: AVs require data to understand their surroundings and humans require data to feel confident AVs 

are deployed in situations where they can improve safety and the efficient movement of goods and 

people. The expectation for AVs is they will improve the safety of our roads, but for many reasons, 

crashes are inevitable. Thoughtful and consistent collection, protection and sharing scene and vehicle 

data will be critical to maximizing the learning potential from these crashes.
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permitted without permission from SAE ITC

Automated Vehicle Safety Consortium (AVSC)

SAE Committee AVSC SAE International Cooperative Research

Relationship with Open Standards

Identify relevant 

SAE committees/

TFs 

Yes New topic? No

AVSC document 

advances 

ongoing 

discussions

Cmte takes up 

new topic

Yes

No

J-XXXX

AVSC 

Best Practice

Committee 

discussions

Socialize Identify other 

external 

stakeholders

• Global SDOs

• State / local IOOs

• Articles

• Conferences / Panels

Subject Matter Expert Panel

Technical Work Group 

Paid Technical 

Performer

Safety Assurance Testing 

for Automated Driving Systems

Taxonomy, Terms and 

Definitions

• Common Language

• Common Test Scenario 

Framework

Concept of Operations

• How to introduce variability

• Test methodologies for 

Simulation, Track and Onroad testing 

• Test Metrics

ADS Testing Basic Safety 

Principles

• Led by American Center for 

Mobility in collaboration with 

SAE

SAE Standards

Develop Test Scenarios for L3-L5 ADS (begin with L4 Low-speed Urban Use Case); 

Other technical tasks as agreed by industry stakeholders

Outreach and Engagement (industry, government, and public) 
15

Copyright © SAE International. Further use or distribution is not permitted without permission from SAE International.

Edward Straub, DM

Director

SAE Office of Automation

E: edward.straub@sae.org

M: 703-304-5958