This document provides safety-relevant guidance for on-road testing of vehicles being operated by prototype conditional, high, and full (Levels 3 to 5) ADS, as defined by SAE J3016. It does not include guidance for evaluating the performance of post-production ADS-equipped vehicles. Moreover, this guidance only addresses testing of ADS-operated vehicles as overseen by in-vehicle fallback test drivers (IFTD).

These guidelines do not address:

- Remote driving, including remote fallback test driving of prototype ADS-operated test vehicles in driverless operation. (Note: The term ¿¿¿remote fallback test driver¿¿¿ is included as a defined term herein and is intended to be addressed in a future iteration of this document. However, at this time, too little is published or known about this type of testing to provide even preliminary guidance.)

- Testing of driver support features (i.e., Levels 1 and 2), which rely on a human driver to perform part of the dynamic driving task (DDT) and to supervise the driving automation feature¿¿¿s performance in real time. (Refer to SAE J3016.)

- Closed-course testing.

- Simulation testing (except for training purposes).

- Component-level testing.