In this paper, a time domain and a spectral analysis of the lateral dynamics of a Lexus passenger car are presented. Measurements were made of the vehicle’s lateral acceleration and steering angle. The aim of the measurements is to understand the vehicle’s lateral dynamics during different cornering maneuvers. For this purpose, part of the measurements is performed with a driver and the other part with autonomous control. The data processed and analyzed in this research can be used to determine the nature of the lateral dynamics, which is essential to establishing a mathematical relationship between the measured signals. This will allow the identification and modeling of vehicle dynamics, which is key to the development and optimization of autonomous vehicle control systems.