A vehicle safety system comprising: a lane detection arrangement to detect, on a road along which the vehicle is driving, a driving lane and at least one substantially adjacent oncoming lane; a first vehicle detection system to detect the speed and/or position, relative to the vehicle, of a subject vehicle in the driving lane ahead of the vehicle; an overtaking detection arrangement configured to determine when the vehicle has at least partially entered the oncoming lane and is performing an overtaking manoeuvre; a second vehicle detection system to detect the relative position and/or speed of an oncoming vehicle in the oncoming lane; a collision assessment arrangement to determine whether, based on the relative speed and/or position of the vehicle and an oncoming vehicle in the oncoming lane, the overtaking manoeuvre can be safely completed; and an evasion arrangement which is configured, if it is determined that the overtaking manoeuvre cannot be completed safely, to generate control signals to operate one or more vehicle control systems and perform an evasion manoeuvre to move the vehicle from the oncoming lane into the driving lane in a position behind the subject vehicle, wherein the evasion manoeuve comprises a lateral movement phase characterized in that: during at least a first period of the lateral movement phase, the one or more vehicle control systems cause the vehicle to yaw so that the vehicle turns in a first direction towards the driving lane side of the road; during a middle period of the lateral movement phase, the vehicle travels in a substantially straight path; and during a second period of the lateral movement phase, the one or more vehicle control systems cause the vehicle to yaw in a second direction, opposite to the first direction. a lane detection arrangement to detect, on a road along which the vehicle is driving, a driving lane and at least one substantially adjacent oncoming lane; a first vehicle detection system to detect the speed and/or position, relative to the vehicle, of a subject vehicle in the driving lane ahead of the vehicle; an overtaking detection arrangement configured to determine when the vehicle has at least partially entered the oncoming lane and is performing an overtaking manoeuvre; a second vehicle detection system to detect the relative position and/or speed of an oncoming vehicle in the oncoming lane; a collision assessment arrangement to determine whether, based on the relative speed and/or position of the vehicle and an oncoming vehicle in the oncoming lane, the overtaking manoeuvre can be safely completed; and an evasion arrangement which is configured, if it is determined that the overtaking manoeuvre cannot be completed safely, to generate control signals to operate one or more vehicle control systems and perform an evasion manoeuvre to move the vehicle from the oncoming lane into the driving lane in a position behind the subject vehicle, wherein the evasion manoeuve comprises a lateral movement phase characterized in that: during at least a first period of the lateral movement phase, the one or more vehicle control systems cause the vehicle to yaw so that the vehicle turns in a first direction towards the driving lane side of the road; during a middle period of the lateral movement phase, the vehicle travels in a substantially straight path; and during a second period of the lateral movement phase, the one or more vehicle control systems cause the vehicle to yaw in a second direction, opposite to the first direction. during at least a first period of the lateral movement phase, the one or more vehicle control systems cause the vehicle to yaw so that the vehicle turns in a first direction towards the driving lane side of the road; during a middle period of the lateral movement phase, the vehicle travels in a substantially straight path; and during a second period of the lateral movement phase, the one or more vehicle control systems cause the vehicle to yaw in a second direction, opposite to the first direction.