• 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.