The use of scaled vehicles can take advantages regarding risk and cost minimization within the experimental verification of vehicle dynamics development projects. Hence this work presents a development methodology including scaled vehicles and a fully functional scaled vehicle itself. To demonstrate the usage of scaled vehicles a flexible path planning method for future vehicle guidance systems is developed, whereas the vehicle path behaves like an elastic band which avoids obstacles while ensuring a smooth vehicle path. To ensure vehicle safety under vehicle dynamic aspects during the planed manoeuvre a path-oriented procedure to a priori predict vehicle dynamic states is presented. Verification of the path planning method is done by conducting several test drives with the scaled vehicle.