A classification system with six levels – ranging from fully manual to fully automated systems – was published in 2014 by SAE International, an automotive standardization body, as J3016, "Taxonomy and Definitions for Terms Related to On-Road Motor Vehicle Automated Driving Systems". This classification is based on the amount of driver intervention and attentiveness required, rather than the vehicle's capabilities, although these are loosely related. In the United States in 2013, the National Highway Traffic Safety Administration (NHTSA) released a formal classification system, but abandoned it in favor of the SAE standard in 2016. Also in 2016, SAE updated its classification, called J3016_201609.