Abstract
An automatic feed forward braking and steering control is studied to avoid an obstacle available when it is impossible for the driver to avoid it. The vehicle is regarded as a mass and the required path curvature to accomplish a lane change is calculated under the condition that the lane change width, length, and initial vehicle velocity are known. Moreover, the required front-wheel steer input is obtained by solving an inverse response to the target lateral acceleration given by the curvature. The response to the calculated steer input is studied with the full vehicle model computer simulation.
