This paper presents an adaptive potential field-based motion planning and control framework for automated vehicle collision avoidance systems which can be automatically adapted with different values of vehicle speed. Recent research works have been undertaken on motion planning development for vehicle collision avoidance trajectory generation considered only specific vehicle speed to design the parameters of potential field functions. The motion planning proposed in this work is formulated using an artificial potential field approach with implementation of the adaptive mechanism theory. To design the parameters of potential field functions, the actual driving data has been collected to anticipate the risk perception of the driver in the real driving environment. Results showed that the adaptive potential field improved the performance of the conventional potential field during the avoidance maneuver as well as maintained safe maneuverability in adaptation to the vehicle speed variations.