Collision imminent steering is an automotive active safety feature designed to perform an evasive lane change maneuver when a forward collision cannot be avoided by braking alone. Previous work developed a nonlinear one-level model predictive controller to perform such a maneuver in a straight highway environment and at high speeds. In this article. a new formulation is presented that... https://chefesquipmenters.shop/product-category/bouillon-bowls/