The vehicle collision avoidance control system is a key active safety configuration. It can work correspondingly to ensure the driving safety when the vehicle encounters an emergency. In this paper， a hierarchical controller based on the fuzzy and PID algorithms is presented to simulate the vehicle emergency collision avoidance control. A detailed vehicle dynamic model and a driving safety distance model are used for the vehicle safety control. Afterwards， the co-simulation of longitudinal vehicle collision avoidance control with different initial speed conditions is performed. The simulation results show that the vehicle controller based on the fuzzy PID algorithm meets the collision avoidance requirements in a large range of vehicle speeds.