Collision avoidance is one of the important safety systems for automated vehicle to avoid potential collision due to frontal collision or rear-end collision. One of the main systems used in automated vehicles are the autonomous emergency braking (AEB) system to halt the vehicle from rear end collision. However, during high-speed driving and low time-to-collision (TTC) conditions, capability of AEB for halting vehicle from motion is affected. This increases the probability for the rear end collisions with other traffic vehicle which leads to road accidents. Therefore, an active safety system namely autonomous emergency steering (AES) control using estimated lateral force feedback (EsLaF) system was developed and implemented in this study along with AEB for collision avoidance application. The proposed estimated lateral force feedback (EsLaF) system is designed based on the imaginary lateral skyhook damper mounted at both longitudinal position of vehicle. The fictitious lateral skyhook generates the lateral forces for the vehicle to perform lane changing profile once the TTC is low and the vehicle is at high-speed driving condition. The automated vehicle equipped with AES with EsLaF
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