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**Electronic Stability Control**

**NCAP Confirmation Test**

**July 2008**

**Office of Vehicle Safety**

**Office of Crash Avoidance Standards**

**Room W43-478, NVS-120**

**1200 New Jersey Avenue , SE**

**WASHINGTON, DC 20590**

> This publication is distributed by the U.S. Department of
> Transportation, National Highway Traffic Safety Administration, in the
> interest of information exchange. The opinions, findings and
> conclusions expressed in this publication are those of the author(s)
> and not necessarily those of the Department of Transportation or the
> National Highway Traffic Safety Administration. The United States
> Government assumes no liability for its contents or use thereof. If
> trade or manufacturers\' name or products are mentioned, it is because
> they are considered essential to the object of the publication and
> should not be construed as an endorsement. The United States
> Government does not endorse products or manufacturers.

**ELECTRONIC STABILITY CONTROL**

**NCAP CONFIRMATION TEST**

**TABLE OF CONTENTS**

[1. PURPOSE AND APPLICATION 1](#purpose-and-application)

[2. GENERAL REQUIREMENTS 1](#general-requirements)

[3. SECURITY 2](#security)

[4. GOOD HOUSEKEEPING 3](#good-housekeeping)

[5. TEST SCHEDULING AND MONITORING 3](#test-scheduling-and-monitoring)

[6. TEST DATA DISPOSITION 3](#test-data-disposition)

[7. VEHICLES AND EQUIPMENT AQUISITION
6](#vehicles-and-equipment-aquisition)

[8. INSTRUMENTATION AND CALIBRATION 7](#instrumentation-and-calibration)

[9. PHOTOGRAPHIC DOCUMENTATION 10](#photographic-documentation)

[10. DEFINITIONS 12](#definitions)

[11. PRETEST AND FACILITY REQUIREMENTS
13](#pretest-and-facility-requirements)

[12. TEST EXECUTION AND TEST REQUIREMENTS
18](#test-execution-and-test-requirements)

[13. POST TEST REQUIREMENTS 24](#post-test-requirements)

[14. REPORTS 29](#reports)

[15. DATA SHEETS 37](#data-sheets)

# 1. PURPOSE AND APPLICATION

This laboratory test procedure provides the specifications for
conducting confirmation tests of the existence of an Electronic
Stability Control (ESC) system on passenger vehicles under 10,000 pounds
gross vehicle weight rating (GVWR). This test procedure is not intended
to be used to verify compliance with Federal Motor Vehicle Safety
Standard 126, "Electronic Stability Control Systems". Rather, this
procedure measures that adequate characteristics and capabilities exist
to qualify the system so it can accurately be called an ESC system for
the purposes of consumer information in the New Car Assessment Program
(NCAP).

The contract laboratories are directed by this test procedure to use a
special test protocols specified in this test procedure document. The
requirements of this test procedure must be strictly adhered to;
however, the test contractors are encouraged to suggest improved testing
techniques to assist in procuring the required test data. Any changes to
or deviations from this test procedure must be approved by the
Contracting Officer\'s Technical Representative (COTR).

The contractor\'s in‑house process must have NHTSA approval prior to
conducting the first test of a particular fiscal year program. The
contractor\'s process cannot deviate in any way from the NHTSA procedure
without the prior approval of the NHTSA COTR.

# 2. GENERAL REQUIREMENTS

For a vehicle to be given credit for having an Electronic Stability
Control (ESC) Systems on our website, the vehicle must be equipped with
a system that is capable of applying brake torques individually to all
four wheels and has a control algorithm that utilizes this capability,
is operational during all phases of driving including acceleration,
coasting, and deceleration (including braking), except when the driver
has disabled ESC, the vehicle speed is below 15 km/h (9.3 mph), or the
vehicle is being driven in reverse, and remains capable of activation
even if the antilock brake system or traction control system is
activated. Vehicles to which this standard applies must meet specific
lateral stability and responsiveness performance requirements.

Yaw rate thresholds are used to assess a vehicle's lateral stability. At
1.0 second after completion of a required sine with dwell steering
input, the yaw rate of a vehicle must not exceed 35 percent of the first
peak value of yaw rate recorded after the steering wheel angle changes
sign (between first and second peaks during the same test run). At 1.75
seconds after completion of a required sine with dwell steering input,
the yaw rate of the same vehicle must not exceed 20 percent of the first
peak value of yaw rate recorded after the steering wheel angle changes
sign (between first and second peaks during the same test run).

Lateral displacement is used to assess a vehicle's responsiveness. The
lateral displacement of the vehicle center of gravity with respect to
its initial straight path must be at least 1.83 m (6 feet) for vehicles
with a GVWR of 3,500kg (7,716 lb) or less, and 1.52 m (5 feet) for
vehicles with a GVWR greater than 3,500 kg (7,716 lb) when computed at
specified commanded steering wheel angles 1.07 seconds after the
Beginning of Steer (BOS).

# 3. SECURITY

The contractor shall provide appropriate security measures to protect
test vehicles and equipment during the entire test program, and shall be
responsible for all equipment removed from test vehicles before and
after the test. Vehicle equipment thefts or act of vandalism must be
reported to NHTSA authorities immediately. Under no circumstances shall
any vehicle components be removed during a visitor inspection unless
authorized by Office of Crash Avoidance Standards (OCAS) engineers. All
data developed from the test program shall be protected.

NO INDIVIDUALS other than the contractor\'s personnel directly involved
in the test program shall be allowed to witness a test, inspect, or
photograph any test vehicle unless authorization is granted by a
representative from the OCAS. It is the contractor\'s responsibility to
secure the test site area during a test.

**Rules for Contractors**

1\. No vehicle manufacturer\'s representative(s) or anyone other than
the contractor\'s personnel working on the Contracts and NHTSA
personnel, shall be allowed to inspect test vehicles or witness vehicle
preparations and/or testing without prior permission of the Office of
Crash Avoidance Standards (OCAS). Such permission can never be assumed.

2.  All communications with vehicle manufacturers shall be referred to
    the OCAS, and at no time shall the contractor release test data
    without the permission of the OCAS.

3.  Unless otherwise specified, the vehicle manufacturer\'s
    representatives shall only be authorized to visit the contractor\'s
    test facility on the day that the test is scheduled, and the
    representatives must be escorted by NHTSA and/or contractor
    personnel.

4\. Test vehicle inspection by the vehicle manufacturer\'s
representative(s) shall be limited to 30 minutes prior to the start of
vehicle test. Post‑test inspection shall be limited to 1 hour after
contractor personnel have completed their test tasks.

5\. Photographs and videos of the test vehicle, associated test
equipment and test event shall be allowed. However, test personnel shall
not be included in any photographic coverage, and videotaping of vehicle
preparation must be approved by OCAS. The contractor\'s personnel shall
not respond to any questions from the manufacturer\'s representatives
regarding this test program. All questions shall be referred to the
COTR, an OCAS representative present at the test site, or to OCAS.

6\. VISITATIONS ‑ The contractor shall permit public access to and
inspection of the test vehicles and related data during the times
specified by the NHTSA COTR. NHTSA shall advise interested parties that
such access and inspection shall be limited to a specified day, and
specified hours and require prior approval from the Office of Crash
Avoidance Standards. The contractor shall refer all visit requests from
vehicle manufacturer\'s representatives and consumers to the Office of
Crash Avoidance Standards. This service shall be included as an
incidental part of the test program and will not result in any
additional cost to the NHTSA. The contractor shall make his own
arrangements with interested parties for expenses incurred beyond
providing access and inspection services. All inquiries by manufacturers
concerning the test program (vehicle, procedures, data, etc.) shall be
directed to OCAS representatives.

# 

# 4. GOOD HOUSEKEEPING

The contractor will maintain the entire test area, vehicle pre‑test
preparation facility, instrumentation building, and equipment
configuration and performance verification test laboratory in a clean,
organized and painted condition. All test instrumentation must be setup
in an orderly manner consistent with good engineering practices.

# 5. TEST SCHEDULING AND MONITORING

The contractor shall commence testing within four (4) weeks after
receipt of the first test vehicle. Subsequent tests will be conducted,
if requested, at a minimum of one (1) vehicle test per week. The NHTSA
COTR will make adjustments to the test schedule in cases of unusual
circumstances such as inclement weather or difficulty experienced in the
procurement of a particular vehicle make and model. All testing shall be
coordinated to allow monitoring by the COTR.

# 6. TEST DATA DISPOSITION

The contractor shall make all test data available within two hours after
the test event if so requested by Agency personnel. Under no
circumstances shall this data be furnished to non‑Agency personnel. The
contractor shall analyze the preliminary test results as directed by the
COTR.

**6.1** **Computer Data and Final Hard‑Copy**

The contractor shall deliver to OCAS the final data, digital printouts,
and plots within one (1) week after the test.

**6.2 Test Report**

**6.2.1** This test report shall include all of the items shown in the
Sample Test Report. The contractor shall submit **two (2)** CD's and
**one (1)** paper copy of the test report to the following address:

## U. S. Department of Transportation

> National Highway Traffic Safety Administration
>
> Office of Crash Avoidance Standards (NVS‑120)
>
> 1200 New Jersey Avenue, SE, Room W43-478
>
> Washington, DC 20590

**6.2.2 Report Submission**

All final test reports shall be submitted to the above listed NHTSA
office within **four (4)** **weeks** from the date of the vehicle test.

**6.2.3 Text/Data Sheet CD**

The contractor shall submit **one (1)** CD of the text and data sheet
portion only of the test report in Microsoft Word format within **four
(4)** weeks from the date of the vehicle test. The full test report
including photographs and data traces on a CD may be a future
requirement.

**6.3 Test Video**

OCAS shall receive **one (1)** copy of the color video for each test,
and the copies shall be mailed directly to the OCAS within **four (4)**
weeks of the vehicle test. The master print for each of the test videos
shall be retained by the contractor, but will be made available to the
OCAS upon request.

**6.4 Data Loss**

**6.4.1 Conditions for RETEST**

The test vehicle is instrumented in order to obtain data needed for the
test program. The data from tests, specifically from those channels
providing *Handwheel angle, lateral acceleration, and yaw* are
absolutely essential to test program. An invalid test is one which does
not conform precisely to all requirements/specifications of the
laboratory test procedure and Statement of Work applicable to the test.

The contracting officer of NHTSA is the only NHTSA official authorized
to notify the contractor that a retest is required.

No test report is required for any test which is determined to be
invalid unless NHTSA specifically decides to require the Contractor to
submit such report. Invalidated test reports will not be publicly
released.

\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_

**RETEST CONDITIONS**

**Failure of the contractor to obtain the above data and to maintain
acceptable limits of test parameters in the manner outlined in this test
procedure shall require a retest at the expense of the contractor and
will include the cost of the vehicle repair or replacement and retest at
the contractor\'s expense. The provisions of this paragraph apply to,
but are not limited to, the contractor maintaining proper speed
tolerance, and test data acquisition, reduction, and processing.**

The contractor shall also be responsible for obtaining usable data from
all primary channels from the steering controller, vehicle speed and
vehicle dynamics package instrumentation. Failure to produce such data
shall also be at the expense of the contractor and shall include vehicle
replacement and retest unless the Office of Crash Avoidance Standards
determines that the data loss occurred through conditions beyond
reasonable and foreseeable control of the contractor. Should it become
necessary for the contractor to procure another test vehicle, it must
have identical equipment and options as the original vehicle. The
retested vehicle shall be retained without fee by the testing facility
until its disposal is authorized by the COTR.

\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_

**6.4.2 Conditions for PARTIAL PAYMENT**

The contractor shall exercise reasonable and foreseeable control to
insure that no data is lost or rendered useless. If some non‑critical
data (such as camera failure) and critical data (*Handwheel angle,
lateral acceleration, and yaw* data) are not obtained for the test and
the test is accepted by the Agency, the Agency will not pay for the
missing or lost data.

**6.5 Data Retention by Contractor**

The contractor shall retain at no extra cost to the agency, reproducible
copies of all data tapes (analog and digital), videos, and still
photograph negatives or electronic files, as specified in the contract,
not to exceed the term of the contract.

**6.6 Data Availability to the Public**

The contractor shall provide interested parties with copies of test
report, test CD's, test data tapes, test films, and test still
photographs, at a reasonable cost to the purchaser, but only after the
Office of Crash Avoidance Standards representative has advised the
contractor that the results of that particular test have been released
to the public by the Agency.

**6.7 Indicant Failure Notification**

Any indication of a "test failure" shall be communicated by telephone to
COTR within 24 hours of the test.

NOTE: In the event of a failure, a post-test calibration check of some
critically sensitive test equipment and instrumentation may be required
for verification of accuracy. The necessity for the calibration shall be
at the COTR\'s discretion and shall be performed without additional
cost.

# 

# 7. VEHICLES AND EQUIPMENT AQUISITION

**7.1 ACCEPTANCE OF TEST VEHICLES**

The Contractor has the responsibility of accepting leased or
NHTSA-provided test vehicles from either new car dealers or vehicle
transporters. In both instances, the Contractor acts in the Agency's
behalf when signing an acceptance of test vehicles. The Contractor must
check to verify the following:

> A. All options listed on the "window sticker" are present on the test
> vehicle.
>
> B. Tires and wheel rims are the same as listed.
>
> C. There are no dents or other interior or exterior flaws.
>
> D. The vehicle has been properly prepared and is in running condition.
>
> E. Verify that spare tire, jack, lug wrench, and tool kit (if
> applicable) is located in the vehicle cargo area.

The Contractor shall check for damage that may have occurred during
transit or prior use. The COTR is to be notified by the contractor of
any damage to the vehicle prior to preparation of the vehicle for
testing.

**7.2 NOTIFICATION OF COTR**

The COTR must be notified within 24 hours after a vehicle has been
delivered.

**7.3 GOVERNMENT FURNISHED EQUIPMENT (GFE)**

For the Electronic Stability Control Confirmation test, there is no
Government Furnished Equipment (GFE).

# 8. INSTRUMENTATION AND CALIBRATION

#  

**8.1 SUGGESTED TEST EQUIPMENT**

A. Portable tire pressure gage with an operating pressure of at least
700kPa (100 psi), graduated increments of 1 kPa (0.1 psi) and an
accuracy of at least [+]{.underline} 2.0% of the applied pressure.

B. Platform scales to measure individual wheel, axle and vehicle loads.
Platform scales shall have a maximum graduation of 1 kg (0.5 lb) and
have an accuracy of at least [+]{.underline} 1% of the measured reading.

C. Automated steering machine with steering angle encoder for
controlling steering wheel angle input and output. Automated steering
machine is used to generate steering inputs for all test maneuvers. The
automated steering machine shall be capable of supplying steering
torques between 40 to 60 Nm (29.5 to 44.3 lb-ft). The steering machine
must be able to apply these torques when operating with steering wheel
velocities up to 1200 deg/sec. The steering machine must be able to move
the vehicle's steering system through its full range, accept vehicle
speed sensor feedback input to initiate steering programs at a preset
road speeds, and have the convenience of changing the steering program
during test sessions. Handwheel angle resolution is 0.25 deg and
accuracy is [+]{.underline} 0.25 deg (ATI Model Spirit 3 or equivalent).

D. Multi-Axis Inertial Sensing System for measuring longitudinal,
lateral and vertical accelerations as well as roll, yaw and pitch rates.
Accelerometer range [+]{.underline} 2g, resolution [\<]{.underline}
10μg, and accuracy [\<]{.underline} 0.05% of full range. Angular rate
sensors range [+]{.underline} 100 deg/sec, resolution [\<]{.underline}
0.004 deg/sec and accuracy 0.05% of full range (BEI Motion PAK or
equivalent).

E. Radar speed sensor with dashboard display for vehicle speed with a
range of 0-125 mph, resolution .009 mph and accuracy [+]{.underline}
.25% of full scale (DEUTA- WERKE Model DRS-6 or equivalent).

F. Two ultrasonic distance measuring system sensors, to determine
vehicle displacements that will be used to calculate roll angle, with a
range of 4-40 inches, resolution 0.01 inches and accuracy
[+]{.underline} .25% of maximum distance (MASSA Model M-5000/220 or
equivalent).

G. Data acquisition system to record time, velocity, roll height,
lateral, longitudinal and vertical accelerations, roll, yaw and pitch
rates, and steering wheel angles from vehicle installed sensors. All
data is to be sampled at 200 Hz. Signal conditioning must consist of
amplification, anti-alias filtering, and digitizing. Amplifier gains are
selected to maximize the signal-to-noise ratio of the digitized data.
Filtering is performed with two-pole low-pass Butterworth filters with
nominal cutoff frequencies selected to prevent aliasing. (Dewetron
Sidehand model DA-121-16 with A/D card Orion-1616-100, and
amplification/anti-aliasing card MDAQ-FILT-10-S)

H. Load Cell to monitor brake pedal force with a range of 0-300 lb and
accuracy [+]{.underline} .05% full scale (Interface Model BPL 300 or
equivalent).

I. Outriggers must be used for testing trucks, multipurpose passenger
vehicles, and buses. Vehicles with a baseline weight under 2,722 kg
(6,000 lbs) must be equipped with "standard" outriggers and vehicles
with a baseline weight equal to or greater than 2,722 kg (6,000 lbs)
must be equipped with "heavy" outriggers. A vehicle's baseline weight is
the weight of the vehicle delivered from the dealer, fully fueled, with
a 73 kg (160 lb) driver. Standard outriggers shall be designed with a
maximum weight of 32 kg (70 lb) and a maximum roll moment of inertia of
35.9 kg-m² (26.5 ft-lb-sec²). Heavy outriggers shall be designed with a
maximum weight of 39 kg (86 lb) and a maximum roll moment of inertia of
40.7 kg-m² (30.0 ft-lb-sec²) (NHTSA titanium outrigger system, Docket
No. NHTSA 2007-7662-11, or equivalent).

J. Real time digital video camera for documenting sine with dwell
maneuver (Sony Model DCR-TRV950 or equivalent).

**8.2 Calibration**

Before the Contractor initiates the test program, a test instrumentation
calibration system must be implemented and maintained in accordance with
established calibration practices. The calibration system shall be set
up and maintained as follows:

A. Standards for calibrating the measuring and test equipment will be
stored and used under appropriate environmental conditions to assure
their accuracy and stability.

B. All measuring instruments and standards shall be calibrated by the
Contractor, or a commercial facility, against a higher order standard at
periodic intervals not exceeding 12 months. Records, showing the
calibration traceability to the National Institute of Standards and
Technology (NIST), shall be maintained for all measuring and test
equipment. The calibration frequency can be increased if deemed
necessary by NHTSA.

C.  All measuring and test equipment and measuring standards will be
    labeled with the following information:

> \(1\) Date of calibration
>
> \(2\) Date of next scheduled calibration
>
> \(3\) Name of the organization and the technician who calibrated the
> equipment

D.  A written calibration procedure shall be provided by the Contractor
    which includes as a minimum the following information for all
    measurement and test equipment:

> \(1\) Type of equipment, manufacturer model number, etc.
>
> \(2\) Measurement range
>
> \(3\) Accuracy
>
> \(4\) Calibration interval
>
> \(5\) Type of standard used to calibrate the equipment (calibration
> traceability of the standard must be evident)
>
> \(6\) The actual procedures and forms used to perform the
> calibrations.
>
> E. Records of calibration for all test instrumentation shall be kept
> by the Contractor in a manner that assures the maintenance of
> established calibration schedules. All such records shall be readily
> available for inspection when requested by the COTR and shall be
> included in the final test report. The calibration system will need
> the acceptance of the COTR before testing commences.
>
> F. Test equipment shall receive a pre- and post-test zero and
> calibration check. This check shall be recorded by the test
> technician(s) and submitted with the final report.

**NOTE**: In the event of a failure to meet the standard\'s minimum
performance requirements additional calibration checks of some
critically sensitive test equipment and instrumentation may be required
for verification of accuracy. The necessity for the calibration will be
at the COTR\'s discretion and will be performed without additional cost.

**8.3 TEST FACILITY DATA**

A. Document the test track peak friction coefficient (PFC). The road
test surface must produce a PFC of at least 0.9 when measured using an
American Society for Testing and Materials (ASTM) E1136 standard
reference test tire, in accordance with ASTM Method E 1337-90, at a
speed of 64.4 km/h (40 mph), without water delivery.

B. Verify that the test track being used is dry and uniform with a
solid-paved surface. Surfaces with irregularities and undulations, such
as dips and large cracks, are unsuitable. The test surface must have a
consistent slope between level and 1%.

# 9. PHOTOGRAPHIC DOCUMENTATION

Each test shall be documented on a color video camera. Sun or light
glare must be minimized so that views of the test are visible for visual
analysis.

**9.1 CAMERAS REQUIRED**

> CAMERA 1
>
> Real‑time video behind the test vehicle.
>
> CAMERA 2
>
> Real-time video camera to one side of the most significant even area
> of the test.
>
> CAMERA 3
>
> A still camera to document the vehicle.

**9.2 INFORMATIONAL PLACARDS**

> Vehicle identification placards shall be positioned so that at least 1
> placard will be visible in the field‑of‑view for at least one video
> camera The following information will be shown:
>
> A. Vehicle\'s NHTSA Number
>
> B. The words "ELECTRONIC STABILITY CONTROL CONFIRMATION TEST"

C. Date of test

> D. Name of contract laboratory
>
> E. Vehicle year, make and model

**9.3 TEST FILM TITLE AND ENDING**

Test video shall include the following title frames:

A. "The following Electronic Stability Control test was conducted under
contract with the National Highway Traffic Safety Administration by
(name and location of test laboratory)"

B. ELECTRONIC STABILITY CONTROL TEST

TEST VEHICLE MODEL YEAR, MAKE AND MODEL

NHTSA No. CXXXXX

DATE OF IMPACT EVENT

CONTRACT NO.: DTNH22‑9X‑X‑XXXXX

C.  The ending frame shall state "THE END"

**9.4 FILM EDITING**

The film shall be edited in the following sequence:

> A. Title
>
> B. Pretest Coverage
>
> C. Real Time Pan Coverage
>
> D. Post test Coverage
>
> E. "The End"

Any vehicle failures shall be completely documented.

**9.11 STILL PHOTOGRAPHS**

Provide still photographs (8 x 10 or 8^1^/~2~ x 11 inch color prints
properly focused for clear images) of pretest and post-test condition of
entire vehicle deformation and details that pertain to the tested
standards. Photographs of all areas of the test vehicle that may be of
importance to the frontal barrier impact test should be taken in excess
and developed only if the need arises.

The following still photographs are required for the test:

> A. Pretest and pre-instrumented left side view of test vehicle
>
> B. Pretest and pre-instrumented right front three‑quarter view of test
> vehicle
>
> C. Pretest and instrumented left side of the test vehicle
>
> D. Pretest and instrumented right front three-quarter view of the test
> vehicle.
>
> E. Photograph of ballast installed in vehicle
>
> F. Photograph of certification label
>
> G. Photograph of tire placard
>
> F Photograph of the vehicle being tested

# 10. DEFINITIONS

**ACKERMAN STEER ANGLE**

The angle whose tangent is the wheelbase divided by the radius of the
turn at a very low speed.

**Electronic Stability Control System or ESC System**

An ESC system means a system that has all of the following attributes:

\(1\) That augments vehicle directional stability by applying and
adjusting the vehicle brake torques individually to induce a correcting
yaw moment to a vehicle;

\(2\) That is computer controlled with the computer using a closed-loop
algorithm to limit vehicle oversteer and to limit vehicle understeer;

\(3\) That has a means to determine the vehicle's yaw rate and to
estimate its side slip or side slip derivative with respect to time;

\(4\) That has a means to monitor driver steering inputs;

\(5\) That has an algorithm to determine the need, and a means to modify
engine torque, as necessary, to assist the driver in maintaining control
of the vehicle, and

\(6\) That is operational over the full speed range of the vehicle
(except at vehicle speeds less than 15 km/h (9.3 mph) or when being
driven in reverse).

**Lateral Acceleration**

Lateral acceleration is the component of the vector acceleration of a
point in the vehicle perpendicular to the vehicle x axis (longitudinal)
and parallel to the road plane.

**OVERSTEER**

Oversteer is a condition in which the vehicle's yaw rate is greater than
the yaw rate that would occur at the vehicle's speed as result of the
Ackerman Steer Angle.

**SIDESLIP OR SIDE SLIP ANGLE**

The arctangent of the lateral velocity of the center of gravity of the
vehicle divided by the longitudinal velocity of the center of gravity.

**UNDERSTEER**

A condition in which the vehicle's yaw rate is less than the yaw rate
that would occur at the vehicle's speed as a result of the Ackerman
Steer Angle.

**UVW**

The Unloaded Vehicle Weight (UVW) is the weight of a vehicle with
maximum capacity of all fluids necessary for vehicle operation, but
without cargo, occupants, or accessories that are ordinarily removed
from the vehicle when they are not in use.

**VEHICLE PLACARD AND OPTIONAL TIRE INFLATION PRESSURE LABEL**

The sources of cold tire inflation pressure recommended by the vehicle
manufacturer and provided in the location and format per Federal motor
vehicle safety standard (FMVSS) No. 110.

**YAW RATE**

The rate of change of the vehicle's heading angle measured in
degree/second of rotation about a vertical axis through the vehicle's
center of gravity.

# 11. PRETEST AND FACILITY REQUIREMENTS

**11.1 VEHICLE PREPARATION**

All non-fuel fluids must be at full capacity. Fuel must be maintained
between 75 percent and 100 percent capacity. Inflate vehicle tires to
the recommended cold inflation pressure as specified on the vehicle
placard or optional tire inflation pressure label.

Measure vehicle's wheelbase and front track width.

A. Inflate vehicle tires to the recommended cold inflation pressure as
specified on the vehicle placard or optional tire inflation pressure
label.

B. Fill the fuel tank and other reservoirs of fluids necessary for
operation of the vehicle prior to executing this test.

C. Measure vehicle's wheelbase and front track width.

D. Weigh unloaded vehicle. Document unloaded vehicle weight (UVW).

#### 

#### E. For vehicles other than passenger cars, install outriggers on vehicle. To determine outrigger size required for test vehicle, add weight of test driver (73 kg (160lb)) to the UVW determined in D to calculate vehicle baseline weight. The vehicle baseline weight should be used to determine the size of outriggers to use as discussed in paragraph 8.1.I. With outriggers installed, again determine and document vehicle weight. 

#### 

#### F. On vehicles equipped with outriggers install suitable inner tubes and return tire/wheel assemblies in original positions on the test vehicle. Use OEM torque on lugs.

#### 

#### G. Remove steering wheel air bag and vehicle center console.

#### 

#### H. Manufacture and install inertial sensing system mounting plate. (Mounting plate should be installed as close as possible to the perceived vehicle CG.)

#### 

#### I. Install Data Acquisition system (DAS) into front passenger seat.

#### 

#### J. Install inertial sensing system.

#### 

#### K. Install ultra sonic distance sensors and brake pedal force load cell.

#### 

#### L. Install vehicle speed sensor onto front outrigger or bumper assembly along vehicle centerline. Install vehicle speed dashboard display.

#### 

#### M. Install automatic steering controller. Insure controller is centered onto vehicle steering wheel.

N. Power up DAS and verify all channels are activated by viewing real
time signal input data and observing normal data drift. Verify DAS
set-up for 200Hz sampling rate, filtering, use two-pole lowpass
Butterworth filter with nominal cut-off frequencies at 25Hz to prevent
aliasing, and amplifier gains selected to maximize signal-to-noise
ratio.

Verify DAS displays accurate calibrated sensor outputs.

O. Verify calibration of steering controller encoder by confirming 1
full rotation of the steering controller wheel results in a reading of
360 degrees on the DAS.

P. Verify the steering controller triggers a steering maneuver at the
correct vehicle speed by injecting a voltage into the speed sensor
connection to simulate speed.

Q. Weigh vehicle with test equipment and test driver. Calculate the
required ballast so the total interior load is 168 kg (370 lb)
comprising the test driver, test equipment and ballast as required to
account for the differences in the weight of test drivers and test
equipment.

R. Place calculated amount of ballast on the floor behind the passenger
front seat or if necessary in the front passenger foot well area. Weigh
the vehicle and verify a total vehicle interior load of 168 kg (370 lb).
Secure ballast in a way that prevents it from becoming dislodged during
test conduct. Document loaded vehicle weight.

S. Using a coordinate measurement machine (CMM), measure the coordinates
of the inertial sensing system and the vehicle's maximum roof height.

T. Determine the loaded vehicle's longitudinal and lateral center of
gravity (CG) coordinates. The vertical CG coordinate is estimated to be
38% of the vehicle's maximum roof height. Document CG coordinates for
the vehicle's loaded configuration.

#### 

U. Readjust location of ultrasonic distance measuring sensors to align
with the vehicle's measured longitudinal center of gravity position.
Measure and record distance between sensors.

V. Verify the data acquisition system is energized and conduct on-track
calibration checks for speed, distance an inertial sensing systems
sensor output.

**11.2 BRAKE CONDITIONING**

A. Verify tires are properly inflated to the vehicle manufacturer's
recommended cold inflation pressures.

B. Measure and record ambient temperature and wind speed. Verify wind
speed nd ambient temperature are within required test conditions.

C. Energize the data acquisition system. Set data acquisition system so
vehicle longitudinal acceleration can be observed on the system's
display by the test driver.

D. Execute ten stops from a speed of 56 km/h (35 mph), with an average
deceleration of approximately 0.5g. During each brake application the
test driver will visually monitor the actual measured longitudinal
acceleration on the data acquisition system display and attempt to
maintain the target of 0.5g deceleration over the entire brake event.

E. Immediately following the series of 56 km/h (35 mph) stops, execute 3
stops from a speed of 72 km/h (45 mph). During the 72 km/h (45 mph)
stops, brake pedal force should be great enough to activate the
vehicle's antilock brake system (ABS) for the majority of each braking
event. During each stop the test driver should be able to identify
activation of the ABS (by feel or sound). If during a brake application
the ABS does not activate the brake application should be repeated with
increased brake pedal force. If the driver experiences any wheel lock-up
he/she should confer with the COTR before proceeding.

F. Following completion of the final 72 km/h (45 mph) stop, the vehicle
shall be driven at a speed of 72 km/h (45 mph) for at least five minutes
to cool the brakes.

**11.3 TIRE CONDITIONING**

Tire conditioning is required to wear away mold sheen and achieve tire
operating temperatures immediately before executing the test maneuvers
of Section 12.2.

A. Verify tires are properly inflated to the vehicle manufacturer's
recommended cold inflation pressures.

B. Measure and record ambient temperature and wind speed. Verify wind
speed and ambient temperature are within required test conditions.

C. Energize the data acquisition system. Set data acquisition system so
vehicle measured lateral acceleration can be observed on the system's
display by the test driver.

D. Drive the vehicle around a 30 meter (100 feet) diameter circle at a
speed that produces a lateral acceleration of approximately 0.5 to 0.6 g
for three clockwise laps followed by three counterclockwise laps. During
each lap the test driver will visually monitor the actual measured
lateral acceleration on the data acquisition system display and attempt
to maintain the target of 0.5 to 0.6 g lateral acceleration over the
entire 30 meter (100 feet) diameter circle. Make note of the targeted
vehicle speed.

E. Energize the automatic steering controller. Program the controller
with a 1Hz, 3 cycle sinusoidal steering pattern and a steering wheel
angle that corresponds to a peak lateral acceleration of 0.5-0.6 g at a
constant vehicle speed of 56 km/h (35 mph). To determine the appropriate
steering wheel angle required several preliminary steering maneuvers
must be conducted. Using a target steering wheel angle of 30 degrees
execute the sinusoidal steering maneuver at 56 km/h (35 mph) while
observing the lateral acceleration. Adjust the target steering wheel
angle as necessary and repeat the steering maneuver until a peak lateral
acceleration of 0.5-0.6 g is obtained at the programmed steering wheel
angle. Document the steering wheel angle required that corresponds to a
peak lateral acceleration of 0.5-0.6 g.

F. Program the steering controller with a 1HZ, 10 cycle sinusoidal
steering pattern using the steering wheel angle for a peak lateral
acceleration of 0.5-0.6 g determined in step E. Execute three steering
maneuvers while maintaining a vehicle speed of 56 km/h (35 mph).

G. Modify the programmed steering controller 1HZ, 10 cycle sinusoidal
steering pattern. The steering wheel angle for the first nine cycles
should be the same as used in step F. The steering wheel angle for the
tenth cycle should be twice that of the other cycles. Execute one
steering maneuver while maintaining a vehicle speed of 56 km/h (35 mph).

NOTE: The maximum time permitted between all laps and passes executed in
section 11.3 is five minutes.

**11.4 TEST CONDITIONS**

The Contractor must verify that the ambient temperature at the beginning
of the test is in the specified temperature range (0°C (32°F) - 40°C
(104°F)). The wind must not exceed 10 meters per second (22 mph).

**11.5 ADDITIONAL PRE -- TEST INSTRUCTIONS**

The hood, hood latches, and any other hood retention components are
engaged. Contractor add‑on items, such as instrumentation, cameras,
lights, etc., shall not interfere with vehicle operation, restraint
system/air bag operation, photography, or operator safety. Items with
sharp edges should be avoided.

**11.6 DETAILED TEST AND QUALITY CONTROL PROCEDURES REQUIRED**

Prior to conducting any test, Contractors are required to submit a
detailed in‑house test procedure to the COTR which includes:

> A. A step‑by‑step description of the methodology to be used.
>
> B. A written Quality Control (QC) Procedure which shall include
> calibrations, the data review process, report review, and the people
> assigned to perform QC on each task.
>
> C. A complete listing of test equipment which shall include instrument
> accuracy and calibration dates.
>
> D. Detailed checkoff lists to be used during the test and during data
> review. These lists shall include all test procedure requirements.
> Each separate checkoff sheet shall identify the lab, test date,
> vehicle and test technicians. These check sheets shall be used to
> document that all requirements and procedures have been complied with
> for each test. The check sheets should be kept on file.

There shall be no contradiction between the laboratory test procedure
and the Contractor\'s in‑house test procedure. The procedures shall
cover all aspects of testing from vehicle receipt to submission of the
final report. Written approval of the procedures must be obtained from
the COTR before initiating the test program so that all parties are in
agreement.

NOTE: Parts of the following may not apply to on‑board data acquisition
systems.

Prior to the vehicle test, a null reference and a shunt calibration
adjustment are performed to set all analog and direct digitized data
devices. Immediately following the test, a post impact null reference
and shunt calibration check will be performed. The pre and post-test
zero and shunt calibration check will be recorded and the data submitted
with the report.

# 12. Test Execution and Test Requirements 

**12.1 VEHICLE EQUIPMENT REQUIREMENTS**

Using information provide by the COTR from the vehicle manufacturer, the
owners manuals, and shop manuals (if necessary) verify that the vehicle
is equipped with an ESC system that meets the definition of ESC SYSTEM
by providing the following:

[Required Equipment]{.underline}. Vehicles to which this definition
applies must be equipped with an electronic stability control system
that:

12.1.1 Is capable of applying brake torques individually to all four
wheels and has a control algorithm that utilizes this capability.

12.1.2 Is operational during all phases of driving including
acceleration, coasting, and deceleration (including braking), except
when the driver has disabled ESC, the vehicle speed is below 15 km/h
(9.3 mph), or the vehicle is being driven in reverse.

12.1.3 Remains capable of activation even if the antilock brake system
or traction control system is also activated.

**12.2 PERFORMANCE REQUIREMENTS.**

**12.2.1 SLOWLY INCREASING STEER (SIS) MANEUVER**

The SIS maneuver is used to characterize the lateral dynamics of each
vehicle. The maneuver is used to provide the data necessary for
determining the steering wheel angle capable of producing a lateral
acceleration of 0.3 g. This steering wheel angle is then used to
determine the magnitude of steering required during the sine with dwell
maneuver executed in section 12.2.2.

> A. The SIS maneuver should be executed immediately following the tire
> conditioning of section 11.3.
>
> B. Verify tires are properly inflated to at least the vehicle
> manufacturer's recommended cold inflation pressures. If this activity
> follows any dynamic testing maneuvers, including brake conditioning
> and/or tire conditioning, expect the tire pressure to be somewhat
> above the recommended cold inflation pressures. In this case, do not
> decrease tire pressures.

C. Measure and record ambient temperature and wind speed. Verify wind
speed and ambient temperature are within the required test conditions.

D. Energize the data acquisition system and the automatic steering
controller. Program the steering controller so at time zero the steering
wheel angle is linearly increased from zero to 30 degrees at a rate of
13.5 degrees per second.

E. Position test vehicle on test course facing the direction SIS
maneuvers will be executed. Collect fifteen seconds of data from all
instrument channels with the test vehicle at rest, the engine running,
the transmission in "Park" (automatic transmission) or neutral with the
parking brake applied (manual transmission), and the front of the test
vehicle pointing in the direction testing will occur. The static data
file will be used in post processing to

establish datums for each instrument channel.

> F. Execute a preliminary left steer maneuver and measure the lateral
> acceleration at the 30 degree steering wheel angle. To begin, the
> vehicle is driven in a straight line at 80 [+]{.underline} 2 km/h (50
> [+]{.underline} 1 mph). While maintaining a vehicle speed of 80
> [+]{.underline} 2 km/h (50 [+]{.underline} 1 mph) using smooth
> throttle modulation, the driver should activate the steering
> controller. The driver must attempt to maintain a vehicle speed of 80
> [+]{.underline} 2 km/h (50 [+]{.underline} 1 mph) during and briefly
> after the steering maneuver is executed by the steering controller.
> The 30 degree steering wheel angle must be held constant for two
> seconds after which the maneuver is concluded. The steering wheel is
> then returned to zero degrees. Document the measured lateral
> acceleration at the 30 degree steering wheel angle.
>
> G. Assuming a linear relationship exists between the steering wheel
> angle and lateral acceleration, calculate the steering angle required
> to achieve a 0.55 g lateral acceleration using equation 1. See note
> below.

$\frac{\text{30 degrees}}{a_{\text{y,30 degrees}}} = \frac{\delta_{\text{SIS}}}{0\text{.}\text{55 g}}$
***Equation 1:***

where,

> *a~y,30\ degrees\ ~*is the raw lateral acceleration produced with a
> constant SWA of 30 degrees during a test performed at 50 mph
>
> *~SIS~* is the steering wheel angle, if the relationship of SWA and
> lateral acceleration was linear, would produce a lateral acceleration
> of 0.55 g during a test performed at 50 mph
>
> NOTE: The 30 degree steering wheel angle was selected by NHTSA because
> it is believed to be capable of producing a steady state lateral
> acceleration within the linear range for any light vehicle. The
> measured lateral acceleration (a~y,30\ degrees~) is "raw" data, not
> corrected for the effects of roll, pitch, and yaw. NHTSA acknowledges
> the relationship of the steering wheel angle and *corrected* lateral
> acceleration data is often not linear at 0.55 g. However, previously
> collected data indicates the magnitude of raw 0.55 g acceleration data
> is typically reduced by approximately 9.6 percent to 0.50 g, when
> corrected for roll, pitch, and yaw, just outside of the linear range
> for most vehicles. Removing the effect of accelerometer offset (error
> due to the accelerometer not being positioned at the vehicle's actual
> center of gravity) typically reduces the magnitude of these data by an
> additional 0.07 percent. The importance of the above equation is that
> it simply provides test laboratories with a direct, "in-the-field" way
> of determining an appropriate steering input for which to proceed with
> SIS test for a given vehicle.
>
> H. Re-program the steering controller so at time zero the steering
> wheel angle is linearly increased from zero degrees to *~SIS~* at a
> rate of 13.5 degrees per second, rounded to the nearest 10 degrees.
>
> I. Execute an SIS maneuver to the left using the techniques in step F.
> and record the steering wheel angle and lateral acceleration data. If
> the lateral acceleration is below 0.50g, then increase the steering
> angle by 10 degrees. If the lateral acceleration is above 0.60g, then
> decrease the steering angle by 10 degrees.
>
> J. Repeat step I. until three SIS maneuvers to the left have been
> completed where the lateral acceleration falls within 0.50g to 0.60g,
> the vehicle speed was 80[+]{.underline} 2 km/h (50 [+]{.underline} 1
> mph), and the maximum steering angle was held constant for two seconds
> after which the maneuver was concluded. The maximum time permitted
> between each test run maneuver is five minutes. Figure 1 presents a
> description of the SIS steering profile. For each of the three test
> runs document the time, steering wheel angle and lateral acceleration.

![](media/image2.jpeg){width="3.733464566929134in"
height="2.4645669291338583in"}

> K. Repeat step H. through J. until three SIS maneuvers to the right
> have been completed where the lateral acceleration falls within 0.50g
> to 0.60g, the vehicle speed was 80[+]{.underline} 2 km/h (50
> [+]{.underline} 1 mph), and the maximum steering angle was held
> constant for two seconds after which the maneuver was concluded. The
> maximum time permitted between each test run maneuver is five minutes.
> For each of the three test runs document the time, steering wheel
> angle and lateral acceleration.

L. Obtain raw lateral acceleration data by filtering with a 12-pole
phaseless Butterworth filter and a cutoff frequency of 6Hz. The filtered
data is then zeroed to remove sensor offset utilizing static pretest
data. The lateral acceleration data at the vehicle CG is determined by
removing the effects caused by vehicle body roll and by correcting for
sensor placement via use of coordinate transformation. For data
collection, the lateral accelerometer shall be located as close as
possible to the position of the vehicle's longitudinal and lateral CG.

M. Using linear regression techniques, determine the "best-fit" linear
line for each of the six completed SIS maneuvers. When lateral
acceleration data collected during SIS tests are plotted with respect to
time, a first order polynomial (best-fit line) accurately describes the
data from 0.1 to 0.375 g. NHTSA defines this as the linear range of the
lateral acceleration response. A simple linear regression is used to
determine the best-fit line, as shown in Figure 2.

![](media/image3.jpeg){width="3.340944881889764in"
height="2.559842519685039in"}

> N. Using the slope of the best-fit line for each of the six SIS
> maneuvers, determine the steering wheel angle, to the nearest 0.1
> degree, at 0.3 g for each respective maneuver. Using Equation 2
> calculate the average overall steering wheel angle, rounded to the
> nearest 0.1 degree, at 0.3 g using the absolute value data from each
> of the six SIS maneuvers.

***Equation 2:***

δ~0.3\ g,\ overall~ = (│δ~0.3\ g,\ left\ (1)~│
+│δ~0.3\ g,\ left\ (2)~│ + │δ~0.3\ g,\ left\ (3)~│+
δ~0.3\ g,\ right\ (1)~ + δ~0.3\ g,\ right\ (2)~ +
δ~0.3\ g,\ right\ (3)~) / 6

**12.2.2 VEHICLE LATERAL STABILITY AND RESPONSIVENESS (SINE WITH DWELL
MANEUVER)**

> The vehicle is subjected to two series of test runs using a steering
> pattern of a sine wave at 0.7 Hz frequency with a 500ms delay
> beginning at the second peak amplitude as shown in Figure 3 (the sine
> with dwell test). One series uses counterclockwise steering for the
> first half cycle, and the other series uses
>
> ![](media/image4.jpeg){width="2.916535433070866in"
> height="1.6562992125984253in"}
>
> clockwise steering for the first half cycle. The vehicle is provided a
> cool-down period between each test run of 90 seconds to five minutes,
> with the vehicle stationary. Ensure the sine with dwell test series
> begins within two hours after the completion of the SIS tests.

A. Repeat the tire conditioning procedure specified in section 11.3.
Tire conditioning must be executed immediately prior to executing the
sine with dwell maneuvers.

B. Verify that the ESC system is enabled, by ensuring that the ESC
malfunction and "ESC OFF" (if provided) telltales are not illuminated.

C. At the completion of the tire conditioning procedure and before the
start of a test series, fifteen seconds of data are collected from all
instrument channels with the test vehicle at rest, the engine running,
the transmission in "Park" (automatic transmission) or in neutral with
the parking brake applied (manual transmission), and the front of the
test vehicle facing in the direction the vehicle will be tested on the
track. The static data files are used in post processing to establish
datums for each instrument channel.

D. Energize the programmable steering controller. Program the controller
to execute the sine with dwell maneuver using an initial
counterclockwise steering direction. The first maneuver should be
programmed with a steering wheel angle magnitude equal to 1.5 times
δ~0.3\ g,\ overall.~ as determined in section 11.3.

E. Depress the steering controller's program switch and then accelerate
the vehicle to 87 [+]{.underline} 2 km/h (54[+]{.underline}1 mph).
Release the throttle, and when vehicle speed reaches the target speed of
80 [+]{.underline} 2 km/h (50 [+]{.underline} 1 mph) the steering
controller will execute the programmed sine with dwell maneuver.

F. During the maneuver, test personnel must observe for loss of pavement
contact of tires, rim-to-pavement contact and tire debeading.
Rim-to-pavement contact will be verified by visual observation and
identified by marks left on the pavement. Debeading will be verified by
visual observation and a corresponding loss of tire inflation pressure.
Loss of pavement contact of tires will be verified by visual observation
and documented by video camera. If any of these events are observed or
if the test driver experiences a vehicle loss of control or spinout the
test should be terminated and the test laboratory must consult with the
COTR before proceeding.

> G. Safety outrigger height adjustment may be required during a test
> series. If an outrigger skid pad contacts the road surface during a
> test run wherein there is no spinout or wheel lift, the outrigger at
> the effected end of the vehicle is raised 19 mm (0.75 in) and the test
> run is repeated. If both outriggers make contact with the test surface
> during at test run wherein there is no spinout or wheel lift, both
> outriggers are raised 19 mm (0.75 in) and the test run is repeated.
>
> H. Using the data from step E. plot the steering wheel angle, vehicle
> speed, lateral acceleration and yaw rate. Confirm the maneuver
> entrance speed was within [+]{.underline} 3 km/h (1mph) of desired
> speed, the steering wheel angle maximums were accurate, and both
> lateral acceleration and yaw rate seem reasonable. If any of the above
> conditions are not met, stop test and correct problem. If all
> conditions are met, then continue the test series.
>
> I. Provide a cool-down period between each test run of 90 seconds to 5
> minutes, with the engine running, the vehicle stationary and
> positioned at the maneuver starting position.
>
> J. Continue to execute the counterclockwise steering maneuvers, each
> time increasing the steering wheel angle magnitude by multiples of

0.5\*δ~0.3\ g,\ overall~. Maneuver execution should continue until a
steering wheel angle magnitude factor of 6.5\*δ~0.3\ g,\ overall~ or 270
degrees is utilized, whichever is greater, provided the calculated
magnitude of 6.5\*δ~0.3\ g,\ overall~ is less than or equal to 300
degrees. If 6.5\*δ~0.3\ g,\ overall~ is less than 270 degrees maneuver
execution should continue by increasing the steering wheel angle
magnitude by multiples of 0.5\*δ~0.3\ g,\ overall~ without exceeding the
270 degree steering wheel angle. If any 0.5\*δ~0.3\ g,\ overall~
increment, up to 6.5\*δ~0.3\ g,\ overall~ , is greater than 300 degrees,
the steering amplitude of the final run shall be 300 degrees.

> K. Repeat paragraphs D. through J. using an initial clockwise steering
> direction.

# 13. POST TEST REQUIREMENTS

NHTSA uses MATLAB program routines for post data processing. These
routines are available on line at
[www.nhtsa.dot.gov](http://www.nhtsa.dot.gov/). Upon entering the web
site proceed to "Vehicle Safety Research," then to "Databases and
Software," then to "NVS Software Applications," and finally to "FMVSS
No. 126, Electronic Stability Control Systems." Yaw rate and lateral
displacement measurements and calculations are processed utilizing the
following techniques:

> A. Filter raw steering wheel angle data with a 12-pole phaseless
> Butterworth filter and a cutoff frequency of 10 Hz. Zero the filtered
> data to remove sensor offset utilizing static pretest data.
>
> B. Filter raw yaw, pitch and roll rate data with a 12-pole phaseless
> Butterworth filter and a cutoff frequency of 6 Hz. Zero the filtered
> data to remove sensor offset utilizing static pretest data.
>
> C. Filter raw lateral, longitudinal and vertical acceleration data
> with a 12-pole phaseless Butterworth filter and a cutoff frequency of
> 6 Hz. Zero the filtered data to remove sensor offset utilizing static
> pretest data.
>
> D. Filter raw speed data with a 12-pole phaseless Butterworth filter
> and a cutoff frequency of 2 Hz.
>
> E. Filter left side and right side ride height data with a 12-pole
> phaseless Butterworth filter and a cutoff frequency of 6 Hz. Zero the
> filtered data to remove sensor offset utilizing static pretest data.
>
> F. Determine the roll, yaw and pitch accelerations by differentiating
> the filtered and zeroed roll and yaw rate data.
>
> G. Determine the lateral acceleration at the vehicle center of gravity
> by correcting for sensor placement via use of coordinate
> transformation. The multi-axis inertial sensing system is used to
> measure linear accelerations and roll, pitch, and yaw angular rates.
> The position of the multi-axis inertial sensing system must be
> accurately measured relative to the C.G. of the vehicle in its loaded
> configuration. These data are required to translate the motion of the
> vehicle at the measured location to that which occurred at the actual
> C.G to remove roll, pitch, and yaw effects. The following equations
> are used to correct the accelerometer data in post-processing. They
> were derived from equations of general relative acceleration for a
> translating reference frame and use the SAE Convention for Vehicle
> Dynamics Coordinate Systems. The coordinate transformations are:
>
> ***Equation 3:*** x″~corrected~ = x″~accel~ - (Θ′ ^2^ + Ψ′
> ^2^)x~disp~ + (Θ′Φ′ - Ψ″)y~disp~ + (Ψ′Φ′ + Θ″)z~disp~
>
> ***Equation 4:*** y″~corrected~ = y″~accel~ + (Θ′Φ′ + Ψ″)x~disp~ - (Φ′
> ^2^ + Ψ′ ^2^)y~disp~ + (Ψ′Θ′ - Φ″)z~disp~
>
> ***Equation 5:*** z″~corrected~ = z″~accel~ + (Ψ′Φ′ - Θ″)x~disp~ +
> (Ψ′Θ′ + Φ″)y~disp~ - (Φ′ ^2^ + Θ′ ^2^)z~disp~

Where;

> x″~corrected~, y″~corrected~, and z″~corrected~ = longitudinal,
> lateral, and vertical accelerations, respectively, at the vehicle's
> center of gravity
>
> x″~accel~, y″~accel~, and z″~accel~ = longitudinal, lateral, and
> vertical accelerations, respectively, at the accelerometer location
>
> x~disp~, y~disp~, and z~disp~ = longitudinal, lateral, and vertical
> displacements, respectively, of the center of gravity with respect to
> the accelerometer location
>
> Φ′ and Φ″ = roll rate and roll acceleration, respectively
>
> Θ′ and Θ″ = pitch rate and pitch acceleration, respectively
>
> Ψ′ and Ψ″ = yaw rate and yaw acceleration, respectively
>
> H. Correct lateral acceleration at the vehicle center of gravity by
> removing the effects caused by vehicle body roll. NHTSA does not use
> inertially stabilized accelerometers for this test procedure.
> Therefore, lateral acceleration must be corrected for vehicle roll
> angle during data post processing. The ultrasonic distance measurement
> sensors are used to collect left and right side vertical displacements
> for the purpose of calculating vehicle roll angle. One ultrasonic
> ranging module is mounted on each side of a vehicle, and is positioned
> at the longitudinal center of gravity. With these data, roll angle is
> calculated during post-processing using trigonometry.

***Equation 6:***

###### Where;

> a~yc~ is the corrected lateral acceleration (i.e., the vehicle's
> lateral acceleration in a plane horizontal to the test surface)
>
> a~ym~ is the measured lateral acceleration in the vehicle reference
> frame
>
> a~zm~ is the measured vertical acceleration in the vehicle reference
> frame
>
> Φ is the vehicle's roll angle
>
> Note: The z-axis sign convention is positive in the downward direction
> for both the vehicle and test surface reference frames.
>
> I. Determine steering wheel velocity by differentiating the filtered
> and corrected steering wheel angle data. Filter the steering wheel
> velocity data using a moving 0.1 second running average filter.
>
> J. Zero lateral acceleration, yaw rate and steering wheel angle data
> channels utilizing a defined "zeroing range." The methods used to
> establish the zeroing range are as follows:
>
> 1\. Using the steering wheel velocity data calculated using the
> methods described in I., the first instant steering wheel rate exceeds
> 75 deg/sec is identified. From this point, steering wheel rate must
> remain greater than 75 deg/sec for at least 200 ms. If the second
> condition is not met, the next instant steering wheel rate exceeds 75
> deg/sec is identified and the 200 ms validity check applied. This
> iterative process continues until both conditions are ultimately
> satisfied.
>
> 2\. The "zeroing range" is identified as the 1.0 seconds time period
> prior to the instant the steering wheel rate exceeds 75 deg/sec (i.e.,
> the instant the steering wheel velocity exceeds 75 deg/sec defines the
> end of the "zeroing range").
>
> K. Determine the "Beginning of Steer" (BOS) which is defined as the
> first instance filtered and zeroed steering wheel angle data reaches
> -5 degrees (when the initial steering input is counterclockwise) or +5
> degrees (when the initial steering input is clockwise) after time
> defining the end of the "zeroing range." The value for time at the BOS
> is interpolated.
>
> L. Determine the "Completion of Steer" (COS) which is defined as the
> time the steering wheel angle returns to zero at the completion of the
> sine with dwell steering maneuver. The value for time at the zero
> degree steering wheel angle is interpolated.
>
> M. Determine the second peak yaw rate
> (${\overset{˙}{\psi}}_{\text{Peak}}$) which is defined as the first
> local yaw rate peak produced by the reversal of the steering wheel.
> Refer to Figure 4.

![](media/image5.jpeg){width="2.9334645669291337in"
height="3.1708661417322834in"}

> **Note:** In figure 4, ${\overset{˙}{\psi}}_{\text{Peak}}$ is the
> [first]{.underline} local peak yaw rate resulting from the sine with
> dwell steering reversal. In some situations, the yaw rate produced by
> the steering reversal may reach a peak
> (${\overset{˙}{\psi}}_{\text{Peak}}$), decay slightly, then increase
> to a level beyond a ${\overset{˙}{\psi}}_{\text{Peak}}$. Even though
> the overall peak magnitude of the yaw rate response may exceed
> ${\overset{˙}{\psi}}_{\text{Peak}}$, only
> ${\overset{˙}{\psi}}_{\text{Peak}}$ shall be used in the calculation
> process.
>
> N. Determine the yaw rates at 1.000 and 1.750 seconds after COS are
> determined by interpolation for each counterclockwise and clockwise
> steering maneuvers.

O. For each of the steering maneuvers calculate the yaw rate ratio (YRR)
at 1.00 second. The yaw rate measured one second after COS must not
exceed 35 percent of the second peak value of the yaw velocity recorded
(${\overset{˙}{\psi}}_{\text{Peak}}$) during the same test run. The YRR
is expressed as a percentage as shown in equation 7 below.

> $\text{YRR} = \text{100} \ast \left( \frac{\overset{˙}{\psi}(\text{at time }t)}{{\overset{˙}{\psi}}_{\text{Peak}}} \right)$
>
> ***Equation 7:***
>
> P. Using equation 7 above, calculate yaw rate ratio (YYR) at 1.75
> seconds for each of the steering maneuvers. The yaw rate measured 1.75
> seconds after COS must not exceed 20 percent of the second peak value
> of the yaw velocity recorded (${\overset{˙}{\psi}}_{\text{Peak}}$)
> during the same test run.
>
> Q. For each of the steering maneuvers executed in Section 12.2.2, with
> a steering wheel angle of 5\*δ~0.3\ g,\ overall~ or greater, determine
> lateral velocity by integrating corrected, filtered and zeroed lateral
> acceleration data. Zero lateral velocity at BOS event.
>
> R. Determine lateral displacement by integrating zeroed lateral
> velocity. Zero lateral displacement at BOS event.
>
> S. Determine lateral displacement at 1.07 seconds from BOS event using
> interpolation. The lateral displacement of the vehicle center of
> gravity with respect to its initial straight path must be at least
> 1.83 (6 feet) for vehicles with a GVWR of 3,500 kg (7,716 lb) or less,
> and 1.52 m (5 feet) for vehicles with GVWR greater than 3,500 kg
> (7,716 lb) when computed 1.07 seconds after the BOS.

# 14. REPORTS

**14.1 MONTHLY STATUS REPORTS**

> The Contractor shall submit a monthly Test Status Report and a Vehicle
> or Equipment Status Report to the COTR (both reports shown in this
> section). The Vehicle Status Report shall be submitted until all
> vehicles or items of equipment are disposed of.

**14.2 TEST ANOMOLIES**

> In the event of an apparent test failure, a post-test calibration
> check of some critically sensitive test equipment and instrumentation
> may be required for verification of accuracy. The necessity for the
> calibration shall be at the COTR\'s discretion and shall be performed
> without additional costs to the OCAS.

**14.3 FINAL TEST REPORT**

**14.3.1** **COPIES**

> One(1) CD per test. Please add two items to the CD's. Place a JPG of
> the vehicle being tested -- 180 by 300 pixels and around 10 KB. For
> the second item, place a sample video of the vehicle being tested on
> the CD.
>
> One paper copy of each Final Test Report.
>
> The above documentation shall be submitted to the COTR according to
> the schedule indicated in section 6.
>
> Payment of Contractor\'s invoices for completed tests may be withheld
> until the Final Test Report is accepted by the COTR. Contractors are
> requested to NOT submit invoices before the COTR is provided copies of
> the Final Test Report.
>
> Contractors are required to submit one color copy of each Final Test
> Report in draft form. DO NOT stamp *preliminary* or *draft* on this
> report. The COTR will review the draft report and notify the
> laboratory of any corrections that are required. If we agree to make
> changes to the test report, mail the appropriate (the changed) pages
> to us. We will insert the new pages into the preliminary test report.
> At the end, we will accept the preliminary test report with the
> inserted pages as the final test report.
>
> Contractors are required to PROOF READ all Final Test Reports before
> submittal to the COTR. The OCAS will not act as a report quality
> control office for Contractors. Reports containing a significant
> number of errors will be returned to the Contractor for correction,
> and a "hold" will be placed on invoice payment for the particular
> test.

**14.3.2 REQUIREMENTS**

> The Final Test Report, associated documentation (including
> photographs) is relied upon as the chronicle of the test. The Final
> Test Report will be released to the public domain after review and
> acceptance by the COTR. For these reasons, each final report must be a
> complete document capable of standing by itself.
>
> The Contractor should use detailed descriptions of all test events.
> Any events that are not directly associated with the test program but
> are of technical interest should also be included. The Contractor
> should include as much detail as possible in the report.
>
> Instructions for the preparation of the first three pages of the final
> test report are provided below for the purpose of standardization.

**14.3.3 FIRST THREE PAGES**

> **Front Cover** ‑ ‑ A heavy paperback cover (or transparency) shall be
> provided for the protection of the final report. The information
> required on the cover is as follows:
>
> \(A\) Final Report Number such as OCAS‑0X‑001
>
> where ‑ ‑
>
> OCAS is the test
>
> ABC are the initials for the laboratory
>
> 0X is the Fiscal Year of the test program
>
> 001 is the Group Number (00 1 for the 1st test, 002 for the 2nd test,
> 003for the 3rd test, etc.)
>
> \(B\) Final Report Title And Subtitle such as
>
> NCAP ELECTONIC STABILITY CONTROL CONFIRMATION TEST

\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*\*

> World Motors Corporation
>
> 200X XYZ 4‑door sedan
>
> NHTSA No. CX0401
>
> \(C\) Contractor\'s Name and Address such as
>
> XYZ TESTING LABORATORIES, INC.
>
> 4335 West Dearborn Street
>
> Detroit, Michigan 48090
>
> **NOTE**: NHTSA/DOT SYMBOL WILL BE PLACED BETWEEN ITEMS (C) AND (D)
>
> \(D\) Date of Final Report completion
>
> \(E\) The words "FINAL REPORT"
>
> \(F\) The sponsoring agency\'s name and address as follows
>
> U. S. DEPARTMENT OF TRANSPORTATION
>
> National Highway Traffic Safety Administration
>
> Office of Crash Avoidance Standards
>
> Mail Code: NVS‑120
>
> 1200 New Jersey Avenue SE, Room W43-478
>
> Washington, DC 20590

**14. REPORTS\.... Continued**

> **First Page After Front Cover** ‑ ‑ A disclaimer statement and an
> acceptance signature block for the COTR shall be provided as follows:
>
> This publication is distributed by the U.S. Department of
> Transportation, National Highway Traffic Safety Administration, in the
> interest of information exchange. The opinions, findings and
> conclusions expressed in this publication are those of the author(s)
> and not necessarily those of the Department of Transportation or the
> National Highway Traffic Safety Administration. The United States
> Government assumes no liability for its contents or use thereof. If
> trade or manufacturers\' names or products are mentioned, it is only
> because they are considered essential to the object of the publication
> and should not be construed as an endorsement. The United States
> Government does not endorse products or manufacturers.

Prepared By:
\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_

Approved By:
\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_

Approval Date:
\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_

FINAL REPORT ACCEPTANCE BY OCAS:

\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_

Manager, NHTSA, Office of Crash Avoidance Standards

> Date:
> \_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_

\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_

COTR, NHTSA, Office of Crash Avoidance Standards

> Date:
> \_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_

**14. REPORTS\.... Continued**

> Second Page After Front Cover ‑ ‑ A completed Technical Report
> Documentation Page (Form DOT F1700.7) shall be completed for those
> items that are applicable with the other spaces left blank. Sample
> data for the applicable block numbers of the title page follows.
>
> **Block No. 1 ‑ ‑ REPORT NUMBER**
>
> OCAS‑ABC‑0X‑001
>
> **Block No. 2 ‑ ‑ GOVERNMENT ACCESSION NUMBER**
>
> Leave blank
>
> **Block No. 3 ‑ ‑ RECIPIENT\'S CATALOG NUMBER**
>
> Leave blank
>
> **Block No. 4 ‑ ‑ TITLE AND SUBTITLE**
>
> Final Report of OCAS Testing
>
> of a 200X World XYZ Deluxe 4‑door sedan
>
> NHTSA No. CX0401
>
> **Block No. 5 ‑ ‑ REPORT DATE**

March 1, 200X

> **Block No. 6 ‑ ‑ PERFORMING ORGANIZATION CODE**

ABC

> **Block No. 7 ‑ ‑ AUTHOR(S)**
>
> John Smith, Project Manager
>
> Bill Doe, Project Engineer
>
> **Block No. 8 ‑ ‑ PERFORMING ORGANIZATION REPORT NUMBER**

ABC‑DOT‑XXX‑001

> **Block No. 9 ‑ ‑ PERFORMING ORGANIZATION NAME AND ADDRESS**

ABC Laboratories

405 Main Street

Detroit, Ml 48070

**14. REPORTS\.... Continued**

> **Block No. 10 ‑ ‑ WORK UNIT NUMBER**
>
> Leave blank
>
> **Block No. 11 ‑ ‑ CONTRACTOR GRANT NUMBER**
>
> DTNH22‑0X‑D‑1 2345
>
> **Block No. 12 ‑ ‑ SPONSORING AGENCY NAME AND ADDRESS**
>
> U. S. DEPARTMENT OF TRANSPORTATION
>
> National Highway Traffic Safety Administration
>
> Office of Crash Avoidance Standards
>
> Mail Code: NVS‑120
>
> 1200 New Jersey Avenue SE, Room W43-478
>
> Washington, DC 20590
>
> **Block No. 13 ‑ ‑ TYPE OF REPORT AND PERIOD COVERED**
>
> Final Test Report
>
> XXX to XXX, 200X
>
> **Block No. 14 ‑ ‑ SPONSORING AGENCY CODE**
>
> NVS‑120
>
> **Block No. 15 ‑ ‑ SUPPLEMENTARY NOTES**
>
> Leave blank
>
> **Block No. 16 ‑ ‑ ABSTRACT**
>
> These tests were conducted on the subject 200X World XYZ 4‑door sedan
> in accordance with the specifications of the Office of Crash Avoidance
> Standards Test Procedure No. TP‑‑XX for the confirmation of an
> Electronic Stability System.
>
> **Block No. 17 ‑ ‑ KEY WORDS**
>
> Electronic Stability Control test

**14. REPORTS\.... Continued**

> **Block No. 18 ‑ ‑ DISTRIBUTION STATEMENT**
>
> Copies of this report are available from the following:
>
> NHTSA Technical Reference Division
>
> National Highway Traffic Safety Administration
>
> 1200 New Jersey Avenue SE, Room W43-478
>
> Washington, DC 20590
>
> **Block No. 19 ‑ ‑ SECURITY CLASSIFICATION OF REPORT**
>
> Unclassified
>
> **Block No. 20 ‑ ‑ SECURITY CLASSIFICATION OF PAGE**
>
> Unclassified
>
> **Block No. 21 ‑ ‑ NO. OF PAGES**
>
> Add appropriate number
>
> **Block No. 22 ‑ ‑ PRICE**
>
> Leave blank

**14.3.4 TABLE OF CONTENTS [PAGE NO.]{.underline}**

> Sample Test Report Table of Contents:
>
> A. Section 1 --- Purpose and Summary of Test
>
> B. Section 2 --- Occupant and Vehicle Information/Data Sheets
>
> C. Section 3 --- Photographs
>
> D. Section 4 --- Vehicle data traces.
>
> E. Section 5 --- Test Equipment and Instrumentation Calibration

**14. REPORTS\.... Continued**

**14.3.5 SAMPLE TEST REPORT INFORMATION**

PURPOSE AND SUMMARY OF TEST

PURPOSE

This test is part of the Electronic Stability Control Confirmation Test
Program sponsored by the National Highway Traffic Safety Administration
(NHTSA) under Contract No.\_[\_\_\_\_\_\_\_\_\_]{.mark}\_. The purpose
of this test was to obtain vehicle crash avoidance performance data to
confirm the existence of a viable Electronic Stability Control system as
specified in FMVSS 126.

SUMMARY

**DATA SHEET NO. DESCRIPTION**

> 1\. Test Summary
>
> 2\. General Test and Vehicle Parameter Data
>
> 3\. Post test Data
>
> 4\. Test Vehicle Information
>
> 5\. Vehicle Measurements

# 15. DATA SHEETS

## **[DATA SHEET NO. 1]{.underline}**

TEST SUMMARY

  ----------------- ------- ------- ---- --- ------- -- ----------- -------------- ------- ------
  Vehicle NHTSA                                                                            
  No.:                                                                                     

  Test Date:                                 Time:                  Temperature:           ^o^C

  Vehicle                                                                                  
  Make/Model/Body                                                                          
  Style:                                                                                   

  Vehicle Test                                          kg                                 
  Weight:                                                                                  

  Electronic                                                                               
  Stability Control                                                                        
  Confirmed                                                                                
  ----------------- ------- ------- ---- --- ------- -- ----------- -------------- ------- ------

[\`1]{.underline}

**[DATA SHEET NO. 2]{.underline}**

## GENERAL TEST AND VEHICLE PARAMETER DATA

  ------------------------- ------------------------ --- -- -- -------- -- ------------ -- -- ------ -- --- ---------- -------- ------------ -------- --------------- ------ --- --------- ------------ ------------------------------ -------- --------- ------- ------ ------- ----------- ---- ---- --
  TEST VEHICLE INFORMATION:                                                                                                                                                                                                                                                                            

                            Year/Make/Model/Body                                                                                                                                                                                                                                                       
                            Style:                                                                                                                                                                                                                                                                     

                            NHTSA No.:                                                        ; VIN:                                                                                                                                            ; Color:                                               

  Engine Data:                                                             cylinders;                                                                                 CID;                                                                      Liters;                                           cc   

  Transmission Data:                                                       speeds;                                              Manual;                                                    Automatic;                                                                            Overdrive             

  Final Drive:                                                 Rear                                                             Front Wheel                                                                                                               Four                                         
                                                               Wheel                                                            Drive;                                                                                                                    Wheel                                        
                                                               Drive;                                                                                                                                                                                     Drive                                        

                            Major Options:                                 A/C;                                                 Pwr.Strg.;                                                                                             Pwr.                                                            
                                                                                                                                                                                                                                       Brakes                                                          

                                                                           Pwr.                                                              Pwr.                                                                                                         Tilt                                         
                                                                           Windows;                                                          Door                                                                                                         Wheel                                        
                                                                                                                                             Locks;                                                                                                                                                    

  Date Received:                                                                                            ; Odometer                                                                                                                                                                       km        
                                                                                                            Reading                                                                                                                                                                                    

  Dealer/leasee:                                                                                                                                                                                                                                                                                       

  & Address:                                                                                                                                                                                                                                                                                           

  **[DATA FROM VEHICLE\'S                                                                                                                                                                                                                                                                              
  CERTIFICATION                                                                                                                                                                                                                                                                                        
  LABEL:]{.underline}**                                                                                                                                                                                                                                                                                

                            Vehicle Manufactured by:                                                                                                                                                                                                                                                   

                            Date of Manufacture                                                                                                                                                                                                                                                        

                            GVWR:                              kg;                                                              kg FRONT;                                                                                                                 kg REAR                                      
                                                               GAWR:                                                                                                                                                                                                                                   

  **[DATA FROM TIRE OR TIRE                                                                                                                                                                                                                                                                            
  PLACARD:]{.underline}**                                                                                                                                                                                                                                                                              

                            Tire Pressure with                                                                                                                                                                                         kpa                                                             
                            Maximum Capacity Vehicle                                                                                                                                                                                   FRONT                                                           
                            Load:                                                                                                                                                                                                                                                                      

                                                                                                                                                                                                                                       kpa REAR                                                        

                            Load Index & Speed                                                                                                                                                                                                                                                         
                            Symbol:                                                                                                                                                                                                                                                                    

                            Recommended Tire Size:                                                                                                                                                                                                                                                     

  \*                        Recommended Cold Tire                                                                                            kpa                                                                                                                  kpa                                  
                            Pressure:                                                                                                        FRONT;                                                                                                               REAR                                 

                            Tire Grades:                                                                                                              Temperature;                                      \_\_\_\_\_\_\_\_\_\_\_\_\_\_                                                                   
                            \_\_\_\_\_\_\_\_\_\_\_                                                                                                                                                      Traction                                                                                       
                            Treadwear;                                                                                                                                                                                                                                                                 

                            Size of Tires on Test                                                                                                     ; Manufacturer:                                                                                                                                  
                            Vehicle:                                                                                                                                                                                                                                                                   

                            Vehicle Capacity Data:                                                                                                                                                                                                                                                     

                            Type of Front Seats:                                                                       Bench;                                                    Bucket;                                                                                 Split                         
                                                                                                                                                                                                                                                                         Bench                         

                            Number of Occupants:                                                                       Front;                                                    Rear;                                                          0                        Total                         

                            Vehicle Capacity Weight                                                                                                                                                                                    kg                                                              
                            (VCW) =                                                                                                                                                                                                                                                                    

                            No. of Occupants x 68 kg                                                                                                                                                                                   kg                                                              
                            =                                                                                                                                                                                                                                                                          

                            Rated Cargo/Luggage                                                                                                                                                                                        kg                                                              
                            Weight (RCLW) =                                                                                                                                                                                                                                                            

  \*Tire pressure used for                                                                                                                                                                                                                                                                             
  test                                                                                                                                                                                                                                                                                                 
  ------------------------- ------------------------ --- -- -- -------- -- ------------ -- -- ------ -- --- ---------- -------- ------------ -------- --------------- ------ --- --------- ------------ ------------------------------ -------- --------- ------- ------ ------- ----------- ---- ---- --

<table>
<colgroup>
<col style="width: 4%" />
<col style="width: 19%" />
<col style="width: 13%" />
<col style="width: 3%" />
<col style="width: 5%" />
<col style="width: 0%" />
<col style="width: 2%" />
<col style="width: 4%" />
<col style="width: 3%" />
<col style="width: 5%" />
<col style="width: 4%" />
<col style="width: 0%" />
<col style="width: 5%" />
<col style="width: 6%" />
<col style="width: 3%" />
<col style="width: 6%" />
<col style="width: 3%" />
<col style="width: 4%" />
</colgroup>
<tbody>
<tr class="odd">
<td colspan="18"><p><strong>15. DATA SHEETS... Continued</strong></p>
<p><strong>DATA SHEET NO. 2 GENERAL TEST AND VEHICLE PARAMETER DATA (
cont. )</strong></p></td>
</tr>
<tr class="even">
<td colspan="18"></td>
</tr>
<tr class="odd">
<td colspan="18"><strong>WEIGHT OF TEST VEHICLE AS RECEIVED FROM DEALER
(with maximum fluids) = UDW:</strong></td>
</tr>
<tr class="even">
<td></td>
<td>Right Front =</td>
<td colspan="3"></td>
<td colspan="3">kg</td>
<td colspan="5">Right Rear =</td>
<td colspan="3"></td>
<td colspan="2">kg</td>
</tr>
<tr class="odd">
<td></td>
<td>Left Front =</td>
<td colspan="3"></td>
<td colspan="3">kg</td>
<td colspan="5">Left Rear =</td>
<td colspan="3"></td>
<td colspan="2">kg</td>
</tr>
<tr class="even">
<td></td>
<td>TOTAL FRONT =</td>
<td colspan="3"></td>
<td colspan="3">kg</td>
<td colspan="5">TOTAL REAR =</td>
<td colspan="3"></td>
<td colspan="2">kg</td>
</tr>
<tr class="odd">
<td></td>
<td colspan="3">TOTAL DELIVERED WEIGHT =</td>
<td colspan="4"></td>
<td colspan="10">Kg</td>
</tr>
<tr class="even">
<td></td>
<td colspan="4">% of Total Front of Vehicle Weight =</td>
<td colspan="3"></td>
<td colspan="7">% of Total Rear Weight =</td>
<td colspan="2"></td>
<td>%</td>
</tr>
<tr class="odd">
<td colspan="10"><strong>WEIGHT OF TEST VEHICLE</strong></td>
<td></td>
<td colspan="7"></td>
</tr>
<tr class="even">
<td></td>
<td>Right Front =</td>
<td colspan="3"></td>
<td colspan="3">kg</td>
<td colspan="5">Right Rear =</td>
<td colspan="3"></td>
<td colspan="2">kg</td>
</tr>
<tr class="odd">
<td></td>
<td>Left Front =</td>
<td colspan="3"></td>
<td colspan="3">kg</td>
<td colspan="5">Left Rear =</td>
<td colspan="3"></td>
<td colspan="2">kg</td>
</tr>
<tr class="even">
<td></td>
<td>TOTAL FRONT =</td>
<td colspan="3"></td>
<td colspan="3">kg</td>
<td colspan="5">TOTAL REAR =</td>
<td colspan="3"></td>
<td colspan="2">kg</td>
</tr>
<tr class="odd">
<td></td>
<td colspan="2">TOTAL TEST WEIGHT =</td>
<td colspan="3"></td>
<td colspan="12">Kg</td>
</tr>
<tr class="even">
<td></td>
<td colspan="2">% of Total Front Weight =</td>
<td colspan="2"></td>
<td colspan="9">% % of Total Rear Weight =</td>
<td colspan="3"></td>
<td>%</td>
</tr>
<tr class="odd">
<td colspan="18"><strong>FUEL</strong> <strong>SYSTEM DATA
:</strong></td>
</tr>
<tr class="even">
<td></td>
<td colspan="7">Fuel System Capacity From Owner's Manual =</td>
<td colspan="3"></td>
<td colspan="7">liters</td>
</tr>
<tr class="odd">
<td></td>
<td colspan="7">Usable Capacity Figure Furnished by COTR =</td>
<td colspan="3"></td>
<td colspan="7">liters</td>
</tr>
<tr class="even">
<td></td>
<td colspan="8">Test Volume Range (75 % to 100% of Usable Capacity)
=</td>
<td colspan="3"></td>
<td>to</td>
<td colspan="2"></td>
<td colspan="3">liters</td>
</tr>
<tr class="odd">
<td></td>
<td colspan="2">ACTUAL TEST VOLUME=</td>
<td colspan="4"></td>
<td colspan="11">liters (with entire fuel system filled)</td>
</tr>
</tbody>
</table>

## 

## 

## 

## **[DATA SHEET NO. 3]{.underline}**

> **PHOTOGRAPHS**