Here's a cool website that has an unaligned collision avoidance demonstration going on.
From the site:
In this demonstration, 30 vehicles exhibit unaligned collision
avoidance behavior. They try to steer a collision-free path,
threading through the crowd while attempting to stay on the yellow
region. The avoidance of the gray obstacle is accomplished with the
technique used by the green vehicle in the containment demonstration.
It's a very interesting applet that's running this demo. It's important because that type of technology is going to be the future. Our cars will drive us around.