* Preconditions: The system shall be in manual mode and the GPS receiver shall be switched off * Input conditions / steps: send a request to change the operating mode to parallel guidance * Expected results: the vehicle shall ignore the request to change the operating mode to parallel guidance

* Preconditions: The system shall be in manual mode and both the GPS receiver and the IMU shall be switched on * Input conditions / steps: send a request to change the operating mode to parallel guidance * Expected results: the vehicle shall change the operating mode to parallel guidance

* Preconditions: The system shall be in manual mode and the IMU shall be switched off * Input conditions / steps: send a request to change the operating mode to parallel guidance * Expected results: the vehicle shall change the operating mode to parallel guidance

* Preconditions: The vehicle is in parallel guidance * Input conditions / steps: Move the GPS base station to cause an unexpected behaviour of the GPS system * Expected results: The vehicle stops in safe state

* Preconditions: The vehicle is in parallel guidance * Input conditions / steps: Inject a fault GPS position to cause a sporadic error * Expected results: The vehicle shall ignore the injected position

* Preconditions: The vehicle is in parallel guidance * Input conditions / steps: Switch off the remote controller * Expected results: The vehicle stops in safe state

* Preconditions: The vehicle is in parallel guidance * Input conditions / steps: send a request to change the operating mode to manual mode with an invalid CRC * Expected results: The vehicle shall ignore the request

* Preconditions: The vehicle is in parallel guidance * Input conditions / steps: send a request to change the operating mode to manual mode from a second remote controller * Expected results: The vehicle shall ignore the request

* Preconditions: The vehicle is in parallel guidance * Input conditions / steps: send a request to change the operating mode to manual mode while the vehicle is moving * Expected results: The vehicle shall ignore the request

* Preconditions: The vehicle is in parallel guidance * Input conditions / steps: send a request to change the operating mode to manual mode from a remote controller not authenticated * Expected results: The vehicle shall ignore the request

* Preconditions: The system is in parallel guidance * Input conditions / steps: inject errors in the CRC of the IMU messages * Expected results: the vehicle shall detect the error in the communication and stops in safe state

* Preconditions: The system is in parallel guidance * Input conditions / steps: switch off the IMU * Expected results: the vehicle stops in safe state

* Preconditions: The system is in parallel guidance * Input conditions / steps: inject errors in the IMU data * Expected results: the vehicle shall detect the IMU failure and stops in safe state

Preconditions: The system shall be in parallel guidance mode and the operator shall be far from robot. Input conditions / steps: Proximity sensor of operator and vehicle reveals the operator is in the vehicle proximity. Expected results: the vehicle shall stop the parallel guidance