Towards Bi‐Dimensional driver models for automated driving system safety requirements: Validation of a kinematic model for evasive lane‐change maneuvers

Preventing traffic accidents is of paramount importance for society's well-being. The topic particularly relevant driving automation given the high expectations about automated vehicles and difficulty in estimating reliable safety figures those complex systems. Under this premise, present manuscript investigates how to derive a benchmark model evasive lane-change maneuvers that can also be applied microsimulation frameworks. approach leverages jerk-limited bang-bang kinematic validates its minimum time prediction against other approaches vehicle dynamical models based on robust minimum-time optimal control formulation. It shown modeling does not embrace steering angle constraints (at low-speed) misses inertia effect high-speed) thus introducing discrepancies. However, due introduction braking model, it safely claimed low-speed discrepancy between dynamic lies region where stopping still most efficient reaction. Moreover, method compute effective lateral acceleration match system's maneuvering. constitute valid performance provided conservative assumptions are used when calibrating maximum acceleration.