This paper presents an Adaptive Cruise Control (ACC) and Collision Avoidance (CA) system for vehicle autonomous driving. The control scheme is designed to improve drivers comfort during multi-vehicle driving situations and to completely avoid rear-end collision using severe braking and lane change maneuver. In order to create such an application,the proposed system consists of a longitudinal control strategy for multi-vehicle ACC with severe braking,a lateral control strategy for lane change,and a decision unit for integration of two strategies. The longitudinal control strategy was used to achieve comfort behavior of subject vehicle in normal-driving situations and to achieve safe behavior in sever-braking situations. The lateral control strategy is used to generate a trajectory for lane change and follow the generated trajectory in order to avoid collision. © 2016,International Journal of Pharmacy and Technology. All rights reserved.