This video demonstrates the semi-autonomous controller's ability to avoid moving hazards. A human driver controls the gray vehicle without assistance. The blue vehicle is jointly controlled by the human driver and our semi-autonomous navigation system Driver input in both cases is identical (steer angle = 0 as though he does not see the impending hazards). The gold and red vehicles represent road hazards. Notice that the host vehicle (blue and gray) maintains a constant velocity (~44 mph) while other vehicles accelerate and decelerate.