A method of evasive steering assist performed by a vehicle, the method comprising: determining, based on sensor data received from one or more sensors that are local to the vehicle, at least one of a state or an environment of the vehicle over time, the sensor data comprising steering input by a driver of the vehicle; predicting, based on the state or the environment of the vehicle at a first time, that a collision between the vehicle and an object is imminent; entering, based on the prediction that the collision with the object is imminent, a pre-active phase; causing, during the pre-active phase, a power-steering system to adjust a steering force provided by the power-steering system to supplement a driver steering force by: causing, during a first pre-active sub-phase of the pre-active phase, the steering force to be zero; and causing, during a second pre-active sub-phase of the pre-active phase, the steering force to be similar to that of an inactive phase or higher than that of the inactive phase; determining, based on the state or the environment of the vehicle at a second time indicating that a steering angle of the vehicle at the second time is insufficient to avoid the collision, that the collision between the vehicle and the object is imminent; entering, based on the determination that the collision with the object is imminent, an active phase; and causing, during the active phase, the power-steering system to adjust the steering force supplementing the driver steering force effective to steer the vehicle to avoid the collision with the object. determining, based on sensor data received from one or more sensors that are local to the vehicle, at least one of a state or an environment of the vehicle over time, the sensor data comprising steering input by a driver of the vehicle; predicting, based on the state or the environment of the vehicle at a first time, that a collision between the vehicle and an object is imminent; entering, based on the prediction that the collision with the object is imminent, a pre-active phase; causing, during the pre-active phase, a power-steering system to adjust a steering force provided by the power-steering system to supplement a driver steering force by: causing, during a first pre-active sub-phase of the pre-active phase, the steering force to be zero; and causing, during a second pre-active sub-phase of the pre-active phase, the steering force to be similar to that of an inactive phase or higher than that of the inactive phase; causing, during a first pre-active sub-phase of the pre-active phase, the steering force to be zero; and causing, during a second pre-active sub-phase of the pre-active phase, the steering force to be similar to that of an inactive phase or higher than that of the inactive phase; determining, based on the state or the environment of the vehicle at a second time indicating that a steering angle of the vehicle at the second time is insufficient to avoid the collision, that the collision between the vehicle and the object is imminent; entering, based on the determination that the collision with the object is imminent, an active phase; and causing, during the active phase, the power-steering system to adjust the steering force supplementing the driver steering force effective to steer the vehicle to avoid the collision with the object.