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With the recent advancement in environmental sensing, vehicle control and vehicle-infrastructure cooperation technologies, more and more autonomous driving companies start to put their intelligent cars into road test. But in the near future, we will face a heterogeneous traffic with both intelligent connected vehicles and human vehicles. In this paper, we investigated the impacts of four collision avoidance algorithms under different intelligent connected vehicles market penetration rate. A customized simulation platform is built, in which a platoon can be initiated with many key parameters. For every short time interval, the dynamics of vehicles are updated and input in a kinematics model. If a collision occurs, the energy loss is calculated to represent the crash severity. Four collision avoidance algorithms are chosen and compared in terms of the crash rate and severity at different market penetration rate and different …