Overrunable Test Vehicle

An overrunable test vehicle for dynamic vehicle testing of advanced driver assistant systems along a driving plane, the overrunable test vehicle comprising:

• a chassis with a first end and a second end and including a mounting area configured to receive a soft target, the chassis defining an axis of rotation transverse to the driving plane between the first end and the second end;
• four drive mechanisms coupled with the chassis with each drive mechanism having an electric motor with a drive wheel;
• and
• a control system coupled with the electric motors, the control system configured to control speed and torque of each of the electric motors and forming a torque vector that rotates the overrunable test vehicle about the axis of rotation to a target rotation angle;
• wherein the axis of rotation is a location between the four drive mechanisms when the torque vector is applied to the chassis of the overrunable test vehicle.

A method for maneuvering an overrunable test vehicle at highway speeds with the overrunable test vehicle having a chassis connected with four electric motors each having a wheel, and a control system;

• the method comprising:
• determining a ground speed of the overrunable test vehicle while the overrunable test vehicle is traveling along a first trajectory;
• determining a first target angle of rotation of the overrunable test vehicle corresponding to a first target trajectory;
• calculating a wheel slip based on the ground speed using the control system;
• calculating individual speed and torque outputs for each of the four motors;
• rotating the overrunable test vehicle to the first target angle of rotation from the first trajectory by controlling a motor parameter of the four electric motors using the control system to adjust speed and torque of each of the electric motors and applying a first torque vector to the overrunable test vehicle.