I think that as car perception systems start to have understanding of the 3d scene (i.e. not just adaptive cruise longitudinal controllers) joint control of the

I think that as car perception systems start to have understanding of the 3d scene (i.e. not just adaptive cruise longitudinal controllers) joint control of the brakes and steering will becoming standard for accident avoidance and will be a big step forwards. It probably is the case that braking ends up being the "more useful" degree of freedom (for one, braking latency is lower than swerving latency) but swerving out of the way of a car can be incredibly useful in certain cases.