Abstract
Collision avoidance by braking is effective and is widely used nowadays. Collision avoidance by steering is more effective at high velocity. But the uncertainty of the road surface condition affects the control performance. Therefore, it is very important to know the condition. In this paper, an automatic collision avoidance system is proposed by combination of braking and steering. First of all, a vehicle is braked to estimate the road condition and reduce the velocity. Then, the vehicle is steered to avoid the obstacle by a nonlinear controller with estimated coefficients of road friction.
