Recent years, robots are useful at home such as cleaning task or communication tools. So there are a lot of studies about cooperative behavior with robots. In order to realize cooperative tasks with robots, it is necessary that robots estimate human intention from human behavior and act in the context based on the intention. In this research, we construct an agent model that enables coordinated behavior by estimating human intention. We focus on collision avoidance as an example of a simple cooperative behavior. We implemented that a agent has Meta-Strategy model in a virtual environment. We have a collision avoidance experiment between virtual agent and human subject and analyzed subject's behavior. It was confirmed that the agent's behavior can influence the human avoidance behavior from experimental results. By indicating the agent's intention, we consider it is possible to achieve cooperative collision avoidance.