Evaluation Libraries
- 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 / Transition Test
Based on ISO 13674-2
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
Based on ISO 13674-1
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. - 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.
SAE Level 1-5
- 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 – 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
Maneuver: Curved driving.
Objective: Check the lane keeping capability of an ACSF system. - EURO NCAP
Based on Euro NCAP Test Protocol – Lane Support Systems
Maneuver: Straight road with specified lane markings.
Objective: Evaluation of the lane overrun of an LKAS system.
Straight Road
- Follow Road
Based on ISO 12021:2010
Maneuver: Generic driving.
Objective: Global analysis of vehicle an LKAS system. - Weave Test
Maneuver: Sinusiodal driving within the lane
Objective: Characterisation of on center steering feel with active LKAS system. - ISO Lane Departure
Based on ISO 11270:2014
Maneuver: Straight line driving with lateral velocity input towards lane boundary.
Objective: Evaluation of lane departure prevention. - Overpressing
Maneuver: Lane overpressing while driving straight (active steering).
Objective: Characterisation of steering wheel torque behaviour (gradient, shape, plateu, deadband). - Trajectory Return
Maneuver: Straight line driving at lane boundary.
Objective: Evaluation of the return behavior from to lane boundary back to the center. - Step Steer
Maneuver: Straight driving with dynamic steering wheel angle input.
Objective: Check the steering and vehicle response.
Curve Road
- ISO Curve
Based on ISO 11270
Maneuver: 5s of curve driving.
Objective: Assessment of lane keeping capability. - ISO Curve Extended
Maneuver: 10s of curve driving.
Objective: Observation of long lasting LKAS controller settling behavior. - S-Curve
Maneuver: Curve driving with changing road curvature.
Objective: Evaluation of the LKA-System’s performance on sudden road curvature changes. - Overpressing
Maneuver: Lane overpressing within a curve (fixed steering wheel).
Objective: Characterisation of steering wheel torque behaviour (gradient, shape, plateu, deadband). - Circular Road
Maneuver: Accelerated or constant circular driving.
Objective: Check the LKA-System’s lane keeping capability, steering effort and steadiness. - Curve Entry/Exit
Maneuver: Transient driving from straight to curve/curve to straight.
Objective: Check transient control respone of LKAS controller. - Dropoff
Maneuver: Accelerated driving within a curved road.
Objective: Charaterisation of the vehicles drop off behaviour.
Any Road
- Follow Road
Maneuver: Generic driving with driver input.
Objective: Evaluation of lane guidance accuracy. - Hands Off
Maneuver: Hands off driving.
Objective: Evaluation of alert time. - Free Run
Maneuver: Generic driving without driver input.
Objective: Global charaterisation of the lane keeping system for vehicle benchmarking.
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
Based on UN ECE R79
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 In
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.
SAE Level 0
- Braking Straight
Covers 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 friction coefficient 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. - (Double) 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.