Ryuzo Hayashi, Juzo Isogai, Pongsathorn Raksincharoensak, Masao Nagai
Autonomous Collision Avoidance System by Combined Control of Steering and Braking using Geometrically-Optimized Vehicular Trajectory
Vehicle System Dynamics, 2012, Vol. 50, Supplement, pp. 151-168.
https://doi.org/10.1080/00423114.2012.672748