vehicle is available to avoid a collision if positive perform step 1005 if negative perform step 1006 step 1005 prompt the driver or activate steering intervention to move the vehicle to the space avoiding the collision step 1006 trigger an alert and prompt the driver for the dangerous collision situation with reference to fig1 and 12 the foregoing estimated lane changing target position can be calculated by the following equation with further reference to fig1 the estimated moving direction is added to a moving direction estimated by a tracking algorithm to obtain a final moving direction u00f8 new u03c6 u00b1 the final moving direction is substituted into to obtain the estimated collision time for higher accuracy of predication where adm represents a distance from a vehicle a to a collision point c bdm represents a distance from another vehicle b to the collision point c v a represents a speed of the vehicle a v b represents a speed of the vehicle a t adm represents a time for the vehicle a to reach the collision point c t adm represents a time for the vehicle a to reach the collision point c t bdm represents a time for the vehicle b to reach the collision point c e a represents an error range for the vehicle a e b represents an error range for the vehicle b h a represents a heading angle of the vehicle a h b represents a heading angle of the vehicle b h ab represents an angle of the vehicle a relative to vehicle b h ba represents an angle of the vehicle b relative to vehicle a d is a.