## 2 State of the Art  
The design of virtual cycling simulators has constantly evolved. In [4], the kinematic parameters and the inclination of the bicycle were obtained by calculating the position of the center of pressure and the weight shift by means of a platform equipped with four road cells. A similar tilt device with four springs and an elasticity that allowed a safety angle to be maintained was used in [5]. In [6], the type of platform used consisted of a 6-spring model, including a controller spring and a servomotor to control the acceleration and deceleration torque of the bike due to the effect of gravity when the trajectory was tilted in the forward direction. The development of bicycle simulators to be used in immersive environments evolved towards 6 DOF hardware platforms with integrated force feedback control, including displacement transducers in the suspension fork and the handlebar to control the steering, as reported in [7]. The interface consisted of a three-screen visualization environment, in contrast to the one used by the authors of [8], where HMD glasses were employed. In the latter research, the participants were asked whether they perceived a straight or curved path. Also, the experimental methodology was similar to that employed for this article since the procedure included a training stage and the completion of standardized questionnaires, in this case, the System Usability Scale (SUS) [9] and the Presence Questionnaire (PQ) [10]. As in the previous paper, in [11], a platform was no longer used, but the simulator model was simplified by using a turntable on the ground to emulate steering, in addition to attaching a Vive tracker to the handlebar to measure the horizontal rotation and, consequently, the steering angle. Other variants have allowed simulation of slope changes without the need for spring platforms, such as the one deployed in [12], where bicycling training equipment was used with the front wheel replaced with an attachment that regulated the inclination. Some kinematic bicycle models do not incorporate any type of additional element to emulate turning or tilting the bike when cornering. The results obtained are not negative at all. In [13], the authors simplified the steering system, using [PERSON]'s model without considering the effect of lateral acceleration or slippage when turning. In this case, 72% of the participants indicated that the bicycle in the virtual application turned according to the handlebars of a real bicycle, and 78% did not notice any delay between steering and the subsequent change in trajectory in the VR environment. Similarly, the authors of [14] found that visuomotor latency impaired cyclists' performance when steering both at constant speeds and in turning trials while pedaling and braking, although they quickly adapted to this delay. Virtual sickness, produced by the mismatch between physical motion and visual perception, can also compromise cycling performance. The work conducted in [15] showed how steering with the handlebar and wheel supported on a turntable reduced VR sickness relative to methods of turning using only HMD or with the upper-body. However, this research focused on the development of a VR application to match the kinematic parameters of the virtual bicycle to the motion of a real bicycle as closely as possible, further simplifying the simulation system while limiting the imbalance effect between the vestibular system and the eyes. Regarding the design of AEB-cyclist systems, some probabilistic adaptable collision models have recently been developed which incorporate a first-order Markov model [16]. However, some of the current literature on the evaluation of AEB systems in vehicle-cyclist encounters focuses on fusion sensor characteristics (e.g., field of view, FOV) or the time-to-collision (TTC) cycle [17]. Other papers have also incorporated the study of driver behavior using simulators for different types of relative cyclist motion in order to relate it to the usual metrics used in the AEB system decision algorithm [18].