  This paper characterizes safe following distances for on-road driving when
vehicles can avoid collisions by either braking or by swerving into an adjacent
lane. In particular, we focus on safety as defined in the
Responsibility-Sensitive Safety (RSS) framework. We extend RSS by introducing
swerve manoeuvres as a valid response in addition to the already present brake
manoeuvre. These swerve manoeuvres use the more realistic kinematic bicycle
model rather than the double integrator model of RSS. When vehicles are able to
swerve and brake, it is shown that their required safe following distance at
higher speeds is less than that required through braking alone. In addition,
when all vehicles follow this new distance, they are provably safe. The use of
the kinematic bicycle model is then validated by comparing these swerve
manoeuvres to that of a dynamic single-track model.
