Eaton VORAD has developed and marketed a collision warning system for heavy trucks since mid-year 1994. Integrating this headway detection device to other vehicle components achieves benefits to the operator that are greater than that of the individual parts. Eaton has previously developed and reported upon SmartCruise Intelligent Cruise Control System that integrates electronically-controlled engines to the standard collision warning system to provide an unusual level of driver convenience and safety. This paper describes the latest research at Eaton Research and Development Center regarding integration with the foundation brakes to create an assisted braking system for collision avoidance.The operational intent for this latest integration is to use it as a panic brake assistant. The brakes are applied as a last resort in dangerous headway situations after the driver has demonstrated a failure to respond to the sensed conditions and to the additional warning cues from the collision warning system.The integration is implemented using various recommended practices for serial communications. It involves an Eaton ABS/TC System, an Eaton VORAD collision warning system, an electronic engine controller, and, for this prototype, a PC. In the prototype, the PC assesses the driving situation, issues braking instructions, and monitors testing parameters. The prototype system was installed in a Class 8 tractor, and tests were performed to evaluate stopping distance improvements and driver interactions in vehicle following tests. Shorter stopping distances were achieved using the electronic system because electronic reaction times can outperform human reaction times. More significantly, the test drivers felt secure with the driver assisted braking system.