The aims of this research are to investigate the effect of the vehicle dynamics control systems on vehicle collision mitigation and to use them to improve vehicle collision performance in full and offset crash scenarios. For this approach, vehicle dynamics are studied together with the vehicle crash structural dynamics. A proposed unique 3-D full-car vehicle dynamics/crash mathematical model is established and developed in this paper to discuss the effect of vehicle dynamics characteristics on different vehicle crash scenarios. In this study, the unavoidable collision and the type of crash (full/offset crash) are detected using the advanced driver assistant systems (ADAS). Validation of the vehicle crash structure in the proposed mathematical model is achieved to ensure that the modeling of crumple zone gives accurate results. It is demonstrated from the simulations that the vehicle dynamic response and crash scenarios are captured and analyzed accurately. It is also shown that the mathematical model is flexible and useful in optimization studies.