1. Non-transitory computer-readable media in a subject vehicle, the media containing instructions that when executed by a computing environment cause the subject vehicle to implement a method comprising: a. determining that a collision between the subject vehicle and a second vehicle is imminent; b. calculating an initial collision time at which the subject vehicle and the second vehicle are predicted to collide; c. selecting a selected sequence of actions, each action comprising an acceleration or a deceleration or a steering action or a waiting time; d. calculating a modified collision time at which the subject vehicle and the second vehicle are predicted to collide when the first vehicle performs the selected sequence of actions; and e. if the modified collision time is greater than the initial collision time, performing the selected sequence of actions; wherein the method further comprises: a. determining that the subject vehicle is predicted to avoid the collision after performing the selected sequence of actions; and b. performing the selected sequence of actions; and wherein the method further comprises: a. while the subject vehicle is performing the selected sequence of actions, determining that the subject vehicle is predicted to avoid the collision if the subject vehicle performs an alternate sequence of actions instead of the selected sequence of actions; b. determining which, of the selected sequence of actions and the alternate sequences of actions, is associated with a lower magnitude of acceleration; and c. if the alternate sequence of actions is associated with a lower magnitude of acceleration than the selected sequence of actions, performing the alternate sequence of actions instead of the selected sequence of actions.
