A Technical Reference for Autonomous Vehicles (AVs), with part 1 focusing on basic behaviour guidelines (TR68-1) is published with the intent to be a reference for evaluation of appropriated behaviour on Autonomous Vehicles for Singapore. This is based on applicability from Basic Theory of Driving (BTD) and Final Theory of Driving (FTD) which are the traffic code/rules for human driving. This report contains a consolidation of current guidelines from TR68-1, BTD and FTD. It will allow an initial identification of missing guidelines for AV behaviour on roads; however, it is difficult to identify conflicting rules or gaps in guidance without going into identified traffic situations. Identified situations for analysis were chosen from Centre of Excellence for Testing & Research of Autonomous Vehicle (CETRAN) assessment experience for further investigation. The outcome of the report proposes additional behaviour characteristics and guidelines to situations identified to close the gap between assessors and developers on expected AV behaviour. These recommendations could improve current guidelines for AV behavioural in assessment and generally for the local AV ecosystem for urban tropical roads in Singapore. These recommendations could also serve as inputs for future TR 68-1 revisions where a sample set of reference situations can help to define clearer expectations or requirements for AV behaviour in those situations. This will help Singapore push forward in better definition of the expected AV behaviour for AV systems.

翻译：自动驾驶车辆（AV）技术参考文件第一部分（TR68-1）聚焦基本行为准则，旨在为新加坡自动驾驶车辆的适当行为评估提供参考。该准则基于人类驾驶的交通法规——《基础驾驶理论》（BTD）与《终极驾驶理论》（FTD）。本报告整合了TR68-1、BTD及FTD的现行指南，初步识别了AV道路行为指南的缺失项；然而，若不深入分析具体交通场景，则难以甄别规则冲突或指导空白。分析场景选自自动驾驶车辆测试与研究中心（CETRAN）的评估经验进行深入探究。报告结论针对所识别场景提出附加行为特征与指南建议，以弥合评估方与开发方对AV预期行为的认知差距。这些建议可优化当前AV行为评估指南，并惠及新加坡城市热带道路的本地AV生态系统。此外，建议亦可作为未来TR68-1修订的参考输入——通过典型场景样本集，为特定情境下的AV行为定义更清晰的期望与要求。这将助力新加坡在AV系统预期行为定义方面取得进一步进展。