so as to generate deceleration or acceleration changes the clu cycle can be conducted in a much shorter duration than a db or a ubd cycle and hence clu cycles can be used in cases where vehicle 100 is traveling at a high speed as mentioned above when the time to collision is below the threshold set for fcw then controller 110 bypasses steps 415 425 and 430 i e the htsm routine and proceeds to step 420 which is an fcw routine in one embodiment of the fcw routine controller 110 sends a control signal to generate a warning such as an audio alert or a light in a heads up display if necessary the fcw routine can be followed by application of the brakes of vehicle 100 as in a collision mitigation by braking system fig5 shows a flowchart of a shift schedule or shifting control that represents a rear end shift modulation resm which is preferably used during highway driving i e above approximately 50 mph in resm controller 110 makes use of rear and side rear facing sensors selected from plurality of sensors 115 at step 500 controller 110 determines with plurality of sensors 115 whether there is a second vehicle that is rapidly approaching vehicle 100 from behind and whether a time to collision is below a specified threshold which is preferably between 3 and 9 seconds for example if so controller 110 proceeds to step 505 and determines via brake.