Over the years, active safety systems have gained importance as road traffic accidents increased. Collision avoidance systems can help in reducing fatalities through automated braking when required. Vehicle-to-Vehicle (V2V) communication technology that overcomes the challenges posed by conventional sensors can potentially complement onboard sensing. However, the effect of wireless communication characteristics like packet loss and latency relevant to collision avoidance systems has not been studied. Thus, the performance of the collision avoidance algorithm with respect to communication latency and packet loss was analyzed, and a model-based CAA for HCRVs in a connected environment addressing these challenges was developed. Further, during emergency brake application, wheels might lock. Wheel lock is a phenomenon where the wheel's angular speed is zero while the vehicle is still in motion. This could lead to directional instability and the loss of steering ability when the rear and the front wheels lock, respectively. This seminar highlights the need for integrating a wheel slip regulation technique with a collision avoidance algorithm and presents a framework to integrate a rule-based wheel slip regulation technique that is commercially viable.