Collision Warning and Collision Avoidance (CW/CA) systems are automotive safety technologies that assist drivers in avoiding a collision. In this paper, a collision avoidance (CA) algorithm is proposed for heavy commercial vehicles based on a safe distance and a safe relative velocity. The work presented in this paper focuses on the inclusion of important air brake system parameters such as brake time delay and brake response time in calculating the deceleration of the vehicle. The proposed algorithm also considers dynamic phenomenon such as the load transfer during braking, the dynamic brake force distribution between the wheels and the maximum braking force developed. The proposed algorithm is simulated for various real traffic scenarios and the results are found to be promising. © 2014 American Automatic Control Council.