MXeval Maneuver Catalogue

Evaluation Libraries

Vehicle Dynamics

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 / 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.
LKAS

Lateral Guidance / LKAS

 

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.
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
    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.