In autonomous vehicles as well as in modern driver assistance systems, obstacle detection shows to be the most important task to be achieved. This paper presents a collision avoidance system, based on a modern Time-Of-Flight camera. These cameras allow a 3D perception of the environment, in which obstacles can be detected, independent of special features. Thus, the system is capable of all kinds of objects, including pedestrians as well as bicycles or vehicles. The used Photonic Mixing Device (PMD) camera has a measurement range of up to 50 m. The system is integrated into an autonomous vehicle, on which detected obstacles are investigated in detail. The vehicle steering commands are then generated by a behaviour network, depending on the presence of obstacles in the driving lane.