Abstract: Method of collision avoidance which includes: sensing parameters by a first vehicle with respect to its movement in a first direction; sensing a second vehicle having a movement in the first direction and separated from the first vehicle by a spaced distance; sensing parameters with respect to the movement of the second vehicle; responsive to sensing by the first vehicle of an imminent need to stop the first vehicle to avoid a collision with the second vehicle, calculating a braking distance between the first vehicle and the second vehicle; determining that the braking distance is greater than the spaced distance; communicating by the first vehicle with the second vehicle; querying the second vehicle as to if the second vehicle can take a corrective action to avoid a collision with the first vehicle; and braking the first vehicle independent of any corrective action taken by the second vehicle.