A computer-implemented method for determining whether an automatic collision avoidance steering maneuver for a vehicle equipped with an automated driving system, ADS, should be executed or not, the method comprising: obtaining a predicted vehicle trajectory for execution of the collision avoidance steering maneuver, wherein the predicted vehicle trajectory comprises a predicted lateral acceleration and a predicted lateral jerk of the vehicle along the predicted vehicle trajectory; obtaining a first threshold of attainable lateral acceleration and a second threshold of attainable lateral jerk of the vehicle; the method being characterized by determining whether the predicted vehicle trajectory is attainable or not by comparing the predicted lateral acceleration with the first threshold and the predicted lateral jerk with the second threshold; in response to the predicted vehicle trajectory being attainable, communicating, to a control system of the vehicle, that the automatic collision avoidance steering maneuver shall be executed; in response to the predicted vehicle trajectory not being attainable: determining a lateral offset of the vehicle along the predicted vehicle trajectory based on the predicted lateral acceleration and the predicted lateral jerk of the predicted vehicle trajectory and the first and second threshold; in response to the lateral offset being smaller than or equal to a third threshold, communicating, to the control system of the vehicle, that the automatic collision avoidance steering maneuver shall be executed; in response to the lateral offset being greater than the third threshold, communicating to the control system of the vehicle, that the automatic collision avoidance steering maneuver shall not be executed. obtaining a predicted vehicle trajectory for execution of the collision avoidance steering maneuver, wherein the predicted vehicle trajectory comprises a predicted lateral acceleration and a predicted lateral jerk of the vehicle along the predicted vehicle trajectory; obtaining a first threshold of attainable lateral acceleration and a second threshold of attainable lateral jerk of the vehicle; the method being characterized by determining whether the predicted vehicle trajectory is attainable or not by comparing the predicted lateral acceleration with the first threshold and the predicted lateral jerk with the second threshold; in response to the predicted vehicle trajectory being attainable, communicating, to a control system of the vehicle, that the automatic collision avoidance steering maneuver shall be executed; in response to the predicted vehicle trajectory not being attainable: determining a lateral offset of the vehicle along the predicted vehicle trajectory based on the predicted lateral acceleration and the predicted lateral jerk of the predicted vehicle trajectory and the first and second threshold; in response to the lateral offset being smaller than or equal to a third threshold, communicating, to the control system of the vehicle, that the automatic collision avoidance steering maneuver shall be executed; in response to the lateral offset being greater than the third threshold, communicating to the control system of the vehicle, that the automatic collision avoidance steering maneuver shall not be executed. determining a lateral offset of the vehicle along the predicted vehicle trajectory based on the predicted lateral acceleration and the predicted lateral jerk of the predicted vehicle trajectory and the first and second threshold; in response to the lateral offset being smaller than or equal to a third threshold, communicating, to the control system of the vehicle, that the automatic collision avoidance steering maneuver shall be executed; in response to the lateral offset being greater than the third threshold, communicating to the control system of the vehicle, that the automatic collision avoidance steering maneuver shall not be executed.