Collision avoidance is one of the fundamental functions in advanced driver assistance. The system employs techniques like forward collision warning, adaptive speed control, and automated emergency braking to prevent collisions between vehicles. To improve the accuracy of these techniques, the system collects the scenario data by using multiple types of sensors. The data recorded by the sensors are merged using sensor fusion methods and are used for decision making. These examples show how to develop and test different collision avoidance models by integrating perception, planning, and control techniques.