## 4 Discussion and Conclusions  
The presented algorithm, describing the method of performance of the obstacle avoidance manoeuvre in a simulated simple road situation, confirms the adopted assumptions of the model. The used steering model is based on the analysis of the relative position of the obstacle to the vehicle. On this basis, the potential value, which is the basic parameter for determining the driver's response, is determined. Therefore, this model may in the future be used in simulation programs involving the reconstruction of road accidents. Such a model can also be used in programs to reconstruct road accidents and analyse vehicle motion, taking into account the driver's behaviour in these situations. The driver model enables the analysis of vehicle traffic limits and obstacles for which a safe bypassing of the obstacle may not be possible. In the reconstruction procedure, the mutual position of the various obstacles is known in principle, so it is possible to take into account the specific geometrical parameters of the situation. The analysed article presents the concept of a simple accident situation with a pedestrian, but in the future, it is planned to consider more complex situations. However, to use this model, it is necessary to perform a full identification of the parameters. The same should be conducted for other scenarios of accident situation, because it may turn out that the optimal parameters determined for such a situation may be different than for another, more complex situation [87]. While in the case of reconstruction programs, various parameters can be entered as input data for different considered situations, in assistive systems, when road situations change dynamically, this is not possible. The basic problem, however, is whether it will be possible to adequately represent more complex models with identical parameters (coefficients). Unfortunately, taking into account the history of creating mathematical models, most of them are dedicated to specific purposes--road situations. In most publications, slightly changed test conditions can cause changes in the field coefficients. By creating different versions of the model for reconstruction programs, the appropriate coefficients recommended for a specific road situation may be used. In terms of creating a model for more complex situations (obstacles coming from the opposite direction or penetrating from the left side of the road), work is being carried out to develop initial assumptions for these models. However, in this work, the authors wanted to present the concept of using the potential method in cars, which differs from the classic approach used in robotics. As mentioned earlier, this is not the only possibility when using the model. Taking into account the fact that currently various optical, ultrasonic, or laser sensors are commonly used in vehicles, which can determine the position of possible obstacles to the vehicle with very high accuracy, it is possible to use the presented algorithm in real devices supporting the driver's work. Given the universality of systems that analyse the location of other objects around the vehicle, it can be considered that the proposed algorithm may be a step in creating new driver-assistant algorithms in the future. It is possible that computer systems enabling real-time analyses of the driver's location can enable the use of similar algorithms for autonomous driving. The planned use of the model are programs for the reconstruction of road accidents, and only after appropriate validation and verification of the model for various parameters of the situation can they be a premise for developing a model for the assistant system. Of course, one should be aware that assistant systems cannot provide full protection in traffic. The presented results illustrate the possibilities of the proposed model. We are aware that further work is needed to fully verify the model, including in terms of driver comfort.