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A multi-sensor collision avoidance system (CAS) presented in this paper is based on a fusion scheme that utilizes fuzzy clustering and estimation techniques. Measurements fiom radar, vision and sonar are discriminated, fused and used to estimate relative motion between the prime and fiont vehicles. The estimated motion is then used to predict possibility of collision with the vehicle in the headway. Fuzzy logic is employed to initiate an audio and visual warning system. It also deploys a throttle relaxer and brake actuator to slow down the prime vehicle. Simulation study was carried out to evaluate the CAS concept. An actual concept prototype was implemented on a military vehicle to validate the feasibility'.

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