Abstract: In recent years, the development of advanced driver assistance systems (ADAS)- mainly based on lidar and cameras - has considerably improved the safety of drivingin urban environments. These systems provide warning signals for the driver in the casethat any unexpected traffic circumstance is detected. The next step is to developsystems capable not only of warning the driver but also of taking over control of thecar to avoid a potential collision. In the present communication, a system capable ofautonomously avoiding collisions in traffic jam situations is presented. First, a percep-tion system was developed for urban situations-in which not only vehicles have to beconsidered, but also pedestrians and other non-motor-vehicles (NMV). It comprises adifferential global positioning system (DGPS) and wireless communication for vehicledetection, and an ultrasound sensor for NMV detection. Then, the vehicle's actuators -brake and throttle pedals - were modified to permit autonomous control. Finally, afuzzy logic controller was implemented capable of analyzing the information providedby the perception system and of sending control commands to the vehicle's actuators soas to avoid accidents. The feasibility of the integrated system was tested by mounting itin a commercial vehicle, with the results being encouraging.

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