In this paper, a non-linear controller for collision avoidance in a heavy commercial road vehicle has been developed using Lyapunov theory. This paper considers the longitudinal dynamics of the vehicle, including the aerodynamic effect, the rolling resistance and the road grade. This paper also considers the maximum tire-road adhesion capacity and the braking capability of the vehicle. The developed controller has been tested using simulation for three realistic scenarios for different road and loading conditions and the results were compared with a controller developed using a linear full state feedback controller. It was observed that the non-linear controller has an advantage in terms of reduced time headway. © 2014 IEEE.