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This paper is a summary of the time to collision (TTC) calculation for an autonomous model vehicle which was created for a student semester project. The TTC comes to use when the model vehicle takes part in the Carolo-and VDI-Cup which will be described later on. The structure of this paper starts with a summary of the background information, then digs deeper into what algorithms are discovered already and how they work and finishes with the explanation and conclusion of our implementation.