MXeval Maneuver Catalogue

Evaluation Libraries

Vehicle Dynamics

  • Weave Test
    Based on ISO 13674-1
    Maneuver: Straight sinusoidal driving.
    Objective: Quantification of on-center handling characteristics.
  • Step Input
    Based on ISO 7401
    Maneuver: Straight driving with rapid steering wheel angle input.
    Objective: Determining transient response behaviour.
  • Frequency Response
    Based on ISO 8726
    Maneuver: Straight driving with sinusoidal (constant SWA, increasing frequency) steering wheel input.
    Objective: Determine the frequency response characteristics of a vehicle.
  • Single Sine
    Based on ISO 8725
    Maneuver: Straight driving with one period of steering wheel angle input.
    Objective: Determining transient response behaviour at approximately contant speed.
  • Quasi Static
    Based on ISO 13674-2 (Transition Test)
    Maneuver: Curve driving with constant steering wheel angular velocity.
    Objective: Quantification of on-center handling characteristics.
  • Steady State Circular
    Based on ISO 4138
    Maneuver: Quasi-steady-state driving on a constant radius with slowly increasing velocity.
    Objective: Vehicle dynamics and road-holding ability.
  • Slalom
    Maneuver: Driving the vehicle through a slalom course.
    Objective: Determining the vehicle agility and as well as the steering behavior and controllability under load changes.
LKAS

Lateral Guidance / LKAS

 

SAE Level 1-5

 

  • Dropoff
    Maneuver: Curved driving.
    Objective: Evaluation of the center guidance performance.
  • UN ECE R79 – Max. Lateral Acceleration
    Based on UN ECE R79
    Maneuver: Curved driving.
    Objective: Investigate the lateral acceleration that an ASCF system generates.
  • UN ECE R79 – LK Functional
    Based on UN ECE R79 / UN ECE R157 / ISO 11270
    Maneuver: Curved driving.
    Objective: Check the lane keeping capability of an ACSF system.
  • UN ECE R79 – Overriding
    Based on UN ECE R79
    Maneuver: Curved driving.
    Objective: Evaluation of the maximum steering force to override the system intervention.
  • UN ECE R79 – Warning
    Based on UN ECE R79
    Maneuver: Generic driving with driver input interrupts.
    Objective: Evaluation of the HMI warning specifications.
  • Free Run
    Maneuver: Generic driving without driver input.
    Objective: Global charaterisation of the lane keeping system for vehicle benchmarking.
  • Hands-on Run
    Maneuver: Generic driving / Curve driving.
    Objective: Evaluation of steering feel with active lateral guidance.
  • NCAP – S-Bend
    Based on EURO NCAP – Highway Assist systems – S-Bend
    Maneuver: Constant curve dirving with a direction change of the road curvature.
    Objective: Evaluation of steering assistance.
  • NCAP – Depart on Straight
    Based on ISO 22735 / NACP LSS
    Maneuver: Straight driving with driver enforced active lateral guidance.
    Objective: Evaluation of trajectory returning capability.
ACC

Longitudinal Guidance / ACC

 

SAE Level 1-5

 

  • Approaching Stationary Target
    Covers EURO NCAP – CCRS – Stationary Target (straight and curved road)
    Maneuver: The ego vehicle approaches a stationary vehicle from behind.
    Objective: Test for sensor performance and target selection for stationary obstacles and suitability for city driving.
  • Approaching Braking Target
    Maneuver: The faster ego vehicle approaches a slower vehicle from behind which will suddenly decelerate.
    Objective: Test for sensor performance, residual safety in motion planning and reaction time.
  • Approaching Target
    Covers EURO NCAP – CCRM – Moving Target
    Maneuver: The faster ego vehicle approaches a slower vehicle from behind.
    Objective: Characterization of function design and sensor performance test.
  • Hunter Cut Out
    Covers EURO NCAP – CUT-OUT
    Maneuver: The ego vehicle follows a traffic vehicle and changes the lane to overtake.
    Objective: Lateral sensor performance test and characterization for acceleration design.
  • Stationary Drive
    Maneuver: The ego vehicle follows a traffic vehicle and maintains the set time gap. The traffic vehicle drives at a constant speed.
    Objective: Characterization of time gap adjustment possibilities.
  • Target Accelerating
    Maneuver: The ego vehicle follows a traffic vehicle which will suddenly accelerate.
    Objective: Test for sensor performance, reaction time and acceleration design.
  • Target Braking
    Covers EURO NCAP – CCRB – Braking Target
    Maneuver: The ego vehicle follows a traffic vehicle which will suddenly decelerate.
    Objective: Test for sensor performance, reaction time and deceleration design.
  • Target Cut In
    Covers EURO NCAP – CUT-IN
    Maneuver: A slower traffic vehicle will cut into the ego vehicles lane.
    Objective: Test for lateral sensor performance, reaction time, deceleration design and reattainment of the set time gap.
  • Target Cut Out
    Maneuver: The ego vehicle follows a traffic vehicle which changes lane and allows the ego vehicle to pass.
    Objective: Lateral sensor performance test and characterization for acceleration design without driving prediction.
  • Transient Response
    Maneuver: The driver approaches a traffic vehicle and activates ACC.
    Objective: Characterization of reactivation behaviour and reattainment of the set time gap.
Vehicle Dynamics

Stability Control

 

SAE Level 0

 

  • Braking Straight
    Includes MFDD MEthod
    Maneuver: Straight line braking at maximum performance.
    Objective: Braking performance benchmarking and ABS characterization.
  • µ-Jump Braking
    Maneuver: Straight line braking at maximum performance with a change of the frition coefficiet during the braking maneuver.
    Objective: ABS control performance after the friction jump.
  • µ-Split Braking
    Covers ISO14512:1999
    Maneuver: Straight line braking at maximum performance with split friction coefficients from left to right.
    Objective: Characterization of function design and sensor performance test.
  • Sine With Dwell
    Based on UNECE R140
    Maneuver: Applying a sinusoidal steering wheel motion with a dwell time at the second half cycle to a coasting vehicle.
    Objective: Evaluation of electronic stability control.
  • Lane Change
    Based on ISO 3888-1/3888–2
    Maneuver: Drive the vehicle through a single or double lane change.
    Objective: Determine the vehicle agility and stability during rapid steering wheel angle inputs.