###### Abstract  
This paper describes the development of an Advanced Driver Assistance System (ADAS) which will allow drivers to avoid collisions with an oncoming vehicle from an occluded area when turning right at intersections in left-hand traffic. Connected vehicles, in coordination with infrastructure, represent one of the commercialized ADAS technologies for collision avoidance. However, the coverage of the ADAS will be limited to designated intersections only, as communication equipment needs to be installed in both the vehicle and infrastructure to enable the assistance. This paper proposes an ADAS using on-board sensors, independent of infrastructure facilities, to control the vehicle velocity to avoid collisions. Most current intersection assistance, by using an Autonomous Emergency Braking System (AEBS), allows the driver to avoid a collision with oncoming vehicles when there is clear vision without occlusion. However, many accidents occur when the vehicle detects the oncoming vehicle too late because of occlusion in the intersection, such as a vehicle in the opposite lane. This system calculates the hazardous speed criteria of the ego vehicle, which might result in a high risk of collision when darting out occurs, and provides speed control assistance to allow the driver to escape from the hazardous speed region. The simulation results reveal that the proposed system effectively reduces the possibility of collisions compared to conventional AEBS. ADAS; intersection; intersection right turn; collision avoidance; risk prediction; dilemma zone 4.0.0000-0000-0000-0000-00000-0000-0000-00000-00000-00000-00000-00000-00000-000000-00000-000000-000000-000000-000000-000000-000000-000000-0000000-000000-000000-0000000-0000000-0000000000000000000000000000000000000000 In the right-turning scenes of left-hand traffic in countries like Japan, the risk of accidents is particularly high in critical scenarios, e.g., when a vehicle suddenly darts out from a blind area with a short time margin to collision, as shown in Figure 1. This is because the driver and AEBS may not have enough time to react or a sufficient braking distance to avoid a collision with the darting-out object in time. Connected vehicles in coordination with infrastructure have been commercialized as ADAS technologies for this situation, but they cannot provide assistance unless communication equipment is installed in both the vehicle and the infrastructure. Therefore, the coverage of the ADAS will be limited only to the designated intersections. In response to this disadvantage, in a previous study, the authors' research group proposed a system in which, when on-board sensors recognize a blind area, the vehicle decelerates in advance to a speed at which AEBS can avoid the collision after detecting the darting out [24]. However, because the system assumes the activation of AEBS, the rear-end collision risk with a following vehicle arises when the ego vehicle suddenly decelerates. Furthermore, since the system previously proposed in [24] attempts to pass through the intersection unless the on-board sensor detects darting-out, a collision may be unavoidable if the object detection is late. Therefore, this study aims to develop an enhanced ADAS to avoid collisions with oncoming vehicles darting out from a blind area when drivers are making a right turn at an intersection without using infrastructure coordination facilities and AEBS. In this paper, we focus on an intersection right-turn situation where an object darts out from the blind area of an oncoming vehicle stopped near the intersection entrance, as shown in Figure 1. Our proposed ADAS, the proactive braking system (PBS), is a system that provides proactive braking assistance to reduce the risk of collision even before darting-out occurs. To solve the problems of the previous system, the new system basically uses only mild deceleration maneuvers up to 0.3 g without emergency braking, even if an object darts out.