High accuracy data generated by the VBOX 3i and IMU, along with a dedicated software plugin for Lane Change, allows you to easily and accurately carry out lane change manoeuvres which fall in line with the "Elk Avoidance Test" / ISO3888-2 standard.
VBOX 3i firmware version 2.6 and higher enables engineers to log positional and time-to-collision data from up to 3 moving targets and a lane simultaneously, allowing them to meet the guidelines set out by the new Lane Change Test for ACSF (Automatically Commanded Steering Function).
VBTS Lane Change is designed to easily and accurately carry out the ISO 3888-2 'Moose (or Elk) Avoidance Test using a VBOX 3i data logger and IMU.
The software allows you to set the start and finish points of the test, and will record each test manoeuvre. One button configuration allows you to configure the VBOX 3i and IMU for the test.
The results chart in the screenshot below shows four runs of various speeds. Speed on entrance and speed on exit, along with percentage difference and time, are recorded to establish the validity of each test.
A graph illustrates speed and yaw rate against time, whilst the map logs the trajectory of the vehicle.
VBOX 3i features IMU integration, meaning that it has the ability to combine GPS and inertial data from a RACELOGIC Inertial Measurement Unit in real time.
Containing three accelerometers in the X, Y and Z planes, measurements from the IMU are seamlessly blended with the GPS data. This is useful for producing smooth, accurate data, particularly if you have a test site where view to the sky is obstructed, such as close to bridges, tall buildings and trees.
For tests which require the vehicle to take a repeatable and highly accurate drive line a VBOX 3i RTK can be used to provide speed, heading, and positional data to the required accuracy for a driving robot to follow a predefined path.
The example of a lane change manoeuvre in the video below shows the level of consistency that can be achieved with a VEHICO steering robot using the VBOX as a 'motion pack' for path-following applications.
VBOX Test Systems
Lane ChangeTesting can be conducted using a VBOX 3i in conjunction with an IMU. A typical RACELOGIC test system comprises of:
Using a powerful GPS engine, VBOX 3i logs data at 100 times a second and features a 400MHz power PC processor.
It is possible to use a VBOX 100Hz Speed Sensor in place of a VBOX 3i and output to an external data logger.
Inertial Measurement Unit (optional)
RACELOGIC's IMU (RLVBIMU04) provides an accurate measurement of yaw rate.
The IMU is optional, but helps to produce accurate data if the test site is obstructed, and is required by some local test regulations.
Lane Change Software
The lane change manoeuvre provides a good indication of the stability and control of a vehicle.
Using two lanes of cones, with widths corresponding to the width of the vehicle, it is carried out by driving through a tight first lane, before swerving hard into a second lane, and then swerving back into the original lane, as shown right and below.
It is designed to reproduce a sudden avoidance manoeuvre that can cause vehicles to lose control.