Collision mitigation and avoidance

A vehicle collision mitigation and avoidance method comprises determining a longitudinal distance offset and/or lateral distance offset between a target vehicle and a host vehicle. The distance offsets are based on a determined time to collision, a relative lateral distance and/or a relative longitudinal distance. A threat estimation or collision factor is determined by comparing the distance offsets with the lateral and/or longitudinal distance thresholds. A component, e.g. brakes, steering, accelerator etc., of the host vehicle is actuated based on the threat estimation/collision factor. The method may use a brake threat number which is a measure of a change in acceleration of the host vehicle to allow one of the host vehicle to stop and the target vehicle to pass the host vehicle. Other threat numbers, e.g. acceleration, steering etc., may be used to actuate other components, such as a HMI which may display a visual warning and/or play an audio warning Reference is also made to a vehicle comprising a computer programmed to perform the method and a computer program product having a computer processor that executes the method.