A method of evasive steering assist (ESA) 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 . <EOS>