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Active safety systems hold great potential for reducing accident frequency and severity by warning the driver and/or exerting automatic vehicle control ahead of crashes. This paper presents a novel active pedestrian safety system that combines sensing, situation analysis, decision making, and vehicle control. The sensing component is based on stereo vision, and it fuses the following two complementary approaches for added robustness: 1) motion-based object detection and 2) pedestrian recognition. The highlight of the system is its ability to decide, within a split second, whether it will perform automatic braking or evasive steering and reliably execute this maneuver at relatively high vehicle speed (up to 50 km/h). We performed extensive precrash experiments with the system on the test track (22 scenarios with real pedestrians and a dummy). We obtained a significant benefit in detection performance and improved …