A theoretical justification of the sine with dwell manoeuvre

Artikel i vetenskaplig tidskrift, 2015

The sine with dwell (SWD) manoeuvre has received much attention within the context of vehicle stability testing. This manoeuvre is used in a test developed by the NHTSA, designed to certificate electronic stability control systems in light vehicles. The test is used in legislations as well as in consumer tests all over the globe. The SWD manoeuvre was designed using test vehicles on a test track and experimentally validated. The paper at hand uses optimal control theory to theoretically justify the use of the SWD manoeuvre to produce a severe lateral motion and over-steering based on steering input. It is shown that a manoeuvre similar to the SWD manoeuvre can be obtained from an optimal control problem using simple vehicle dynamics models. The optimal control method is further used to analyse the manoeuvre's robustness with respect to vehicle dimensions and tyre properties. It is shown that the manoeuvre is robust in dimensions, which theoretically motivates its application for various sizes of vehicles.