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SECOND REGULAR SESSION
HOUSE BILL NO. 2208
103RD GENERAL ASSEMBL Y
INTRODUCED BY REPRESENT A TIVE MA YHEW .
5149H.01I JOSEPH ENGLER, Chief Clerk
AN ACT
T o amend chapter 304, RSMo, by adding thereto nine new sections relating to autonomous
vehicles.
Be it enacted by the General Assembly of the state of Missouri, as follows:
Section A. Chapter 304, RSMo, is amended by adding thereto nine new sections, to
2 be known as sections 304.920, 304.923, 304.926, 304.927, 304.928, 304.929, 304.930,
3 304.931, and 304.932, to read as follows:
304.920. As used in sections 304.920 to 304.932, the following terms mean:
2 (1) "Automated driving system", the hardware and software that are collectively
3 capable of performing the entire dynamic driving task on a sustained basis, r egardless
4 of whether it is limited to a specific operational design domain;
5 (2) "Dynamic driving task", all of the r eal-time operational and tactical
6 functions requ ired to operate a vehicle in on-r oad traffic, excluding the strategic
7 functions such as trip scheduling and selection of destinations and way points, and
8 including, but not limited to:
9 (a) Lateral vehicle motion control via steering;
10 (b) Longitudinal motion contro l via acceleration and deceleration;
11 (c) Monitoring the driving environm ent via object and event detection,
12 r ecognition, classification, and res ponse prep aration;
13 (d) Object and event res ponse execution;
14 (e) Maneuver planning; and
15 (f) Enhancing conspicuity via lighting, signaling, and gesturing;
EXPLANA TION — Matter enclosed in bold-faced brackets [thus] in the above bill is not enacted and is
intended to be omitted from the law . Matter in bold-face type in the above bill is proposed language.
16 (3) "Dynamic driving task fallback", the r esponse by the person or human
17 driver to either perform the dynamic driving task or achieve a minimal risk condition
18 after occurre nce of a dynamic driving task performance-r elevant system failure or
19 failur es or upon operational design domain exit, or the res ponse by an automated
20 driving system to achieve minimal risk condition, given the same circu mstances;
21 (4) "Fully autonomous vehicle", a motor vehicle equipped with an automated
22 driving system designed to function without a human driver as a level 4 or level 5 system
23 under SAE J3016B;
24 (5) "Human driver", a natural person in the vehicle with a valid license to
25 operate a motor vehicle who contr ols all or part of the dynamic driving task;
26 (6) "Minimal risk condition", a condition to which a person, human driver , or an
27 automated driving system may bring a vehicle after performing the dynamic driving
28 task fallback in order to red uce the risk of a crash when a given trip cannot or should
29 not be completed;
30 (7) "On-demand autonomous vehicle network", a transportation service
31 network that uses a softwar e application or other digital means to dispatch or
32 otherwise enable the prearra ngement of transportation with fully autonomous vehicles
33 for purposes of transporting passengers or goods, including for -hire transportation and
34 transportation of passengers or goods for compensation;
35 (8) "Operational design domain", operating conditions under which a given
36 automated driving system is specifically designed to function including, but not limited
37 to, envir onmental, geographical, and time-of-day r estrictions, or the requi site pr esence
38 or absence of certain traffic or ro adway characteristics;
39 (9) "Request to intervene", notification by an automated driving system to a
40 human driver that the human driver should pro mptly begin or re sume performance of
41 part or all of the dynamic driving task;
42 (10) "SAE J3016B", the "T axonomy and Definitions for T erms Related to
43 Driving Automation Systems for On-Road Motor V ehicles", published by SAE
44 International in June 2018.
304.923. 1. A person may operate a fully autonomous vehicle on the public r oads
2 of this state without a human driver , pro vided that the automated driving system is
3 engaged and the vehicle meets the following conditions:
4 (1) If a failure of the automated driving system occurs that r enders the system
5 unable to perform the entire dynamic driving task rel evant to its intended operational
6 design domain, the fully autonomous vehicle will achieve a minimal risk condition;
7 (2) The fully autonomous vehicle is capable of operating in compliance with the
8 applicable traffic and motor vehicle safety laws and regul ations of this state when
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9 r easonable to do so unless an exemption has been granted by the department of public
10 safety;
11 (3) When requi red by federal law , the vehicle bears the requi red manufactur er's
12 certification label indicating that at the time of its manufactur e it has been certified to
13 be in compliance with all applicable Federal Motor V ehicle Safety Standards, including
14 r efer ence to any exemption granted by the National Highway T raffic Safety
1 5 Administration.
16 2. Prior to operating a fully autonomous vehicle on the public roads of this state
17 without a human driver , a person shall submit a law enforcem ent plan to the
18 department of public safety that describes:
19 (1) How to communicate with a fleet support specialist who is available during
20 the times the vehicle is in operation;
21 (2) How to safely rem ove the fully autonomous vehicle fr om the roadw ay and
22 steps to safely tow the vehicle;
23 (3) How to reco gnize whether the fully autonomous is in autonomous mode; and
24 (4) Any additional information the manufactur er or owner deems necessary
25 r egarding hazardous conditions or public safety risks associated with the operation of
26 the fully autonomous vehicle.
304.926. 1. When an automated driving system installed on a motor vehicle is
2 engaged:
3 (1) The automated driving system is consider ed the driver or operator , for the
4 purpose of assessing compliance with applicable traffic or motor vehicle laws and shall
5 be deemed to satisfy electr onically all physical acts r equir ed by a driver or operator of
6 the vehicle; and
7 (2) The automated driving system is consider ed to be licensed to operate the
8 vehicle.
9 2. Before operating a fully autonomous vehicle on public road s in this state
10 without a human driver , a person shall submit to the department of revenu e pro of of
11 financial res ponsibility , as defined in section 303.020, for the vehicle.
12 3. In the event of a crash:
13 (1) The fully autonomous vehicle shall rem ain on the scene of the crash when
14 r equir ed under section 303.040, consistent with its capability under section 304.923; and
15 (2) The owner of the fully autonomous vehicle, or a person on behalf of the
16 vehicle owner , shall repo rt any crashes or collisions consistent with section 303.040.
304.927. An on-demand autonomous vehicle network shall be permitted to
2 operate pursuant to state laws governing the operation of transportation network
3 companies, taxis, or any other gr ound transportation for -hire of passengers, with the
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4 exception that any pr ovision of this chapter that reas onably applies only to a human
5 driver would not apply to the operation of fully autonomous vehicles with the automated
6 driving system engaged on an on-demand autonomous vehicle network.
304.928. 1. A fully autonomous vehicle shall be pr operly r egister ed in
2 accordance with chapter 301. If a fully autonomous vehicle is register ed in this state, the
3 vehicle shall be identified on the regi stration as a fully autonomous vehicle.
4 2. A fully autonomous vehicle shall be pro perly titled in accordance with chapter
5 301. If a fully autonomous vehicle is titled in this state, the vehicle shall be identified on
6 the title as a fully autonomous vehicle.
304.929. 1. A person may operate a motor vehicle equipped with an automated
2 driving system capable of performing the entir e dynamic driving task if:
3 (1) Such automated driving system will issue a req uest to intervene whenever the
4 automated driving system is not capable of performing the entire dynamic driving task
5 with the exception that the person will res pond appr opriately to such a req uest; and
6 (2) The automated driving system is capable of being operated in compliance
7 with this chapter when reas onable to do so unless an exemption has been granted by the
8 department of public safety .
9 2. Nothing in sections 304.920 to 304.932 proh ibits or res tricts a human driver
10 fr om operating a fully autonomous vehicle equipped with contr ols that allow for the
11 human driver to control all or part of the dynamic driving task.
304.930. A fully autonomous vehicle that is also a commer cial vehicle as defined
2 in section 301.010 may operate pursuant to state laws governing the operation of
3 commer cial motor vehicles, except that any prov ision that by its nature reas onably
4 applies only to a human driver does not apply to such a vehicle operating with the
5 automated driving system engaged.
304.931. A fully autonomous vehicle that is designed to be operated exclusively
2 by the automated driving system for all trips is not subject to motor vehicle equipment
3 laws or regu lations of this state that:
4 (1) Relate to or support motor vehicle operation by a human driver seated in the
5 vehicle; and
6 (2) Are not relev ant to an automated driving system.
304.932. 1. Unless otherwise pr ovided in this chapter and notwithstanding any
2 other pr ovision of law , fully autonomous vehicles and automated driving systems are
3 governed exclusively by sections 304.920 to 304.932. The dir ector of the department of
4 public safety may pr omulgate rules necessary to implement these sections. The
5 department shall be the sole agency that may implement the pro visions of these sections.
6 Any rule or portion of a rule, as that term is defined in section 536.010 that is creat ed
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7 under the authority delegated in this section shall become effective only if it complies
8 with and is subject to all of the pr ovisions of chapter 536 and, if applicable, section
9 536.028. This section and chapter 536 are nonseverable and if any of the powers vested
10 with the general assembly pursuant to chapter 536 to rev iew , to delay the effective date,
11 or to disappr ove and annul a rule are subsequently held unconstitutional, then the grant
12 of rulemaking authority and any rule pr oposed or adopted after August 28, 2026, shall
13 be invalid and void.
14 2. No state agency , political subdivision, municipality , or local entity shall
15 pr ohibit the operation of fully autonomous vehicles, automated driving systems, or on-
16 demand autonomous vehicle networks, or otherwise enact or keep in for ce rules or
17 ordinances that would impose taxes, fees, or other requi rem ents, including performance
18 standards, specific to the operation of fully autonomous vehicles, automated driving
19 systems, or on-demand autonomous vehicle networks in addition to the requi rem ents of
20 sections 304.920 to 304.932.
✔
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