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The most important role of V2X technology is to significantly enhance driving safety. This paper proposes an Omni-directional collision warning method based on vehicle to vehicle communication. With the Basic Safety Message (BSM), the driving states of vehicles which communicate with host vehicle can be obtained. The warnings are divided into two categories based on the Lateral Offset calculation: forward collision warning (FCW) for vehicles moving in the same direction and cross collision warning (CCW) for vehicles moving in different directions. For vehicles which moves in the same direction, the lateral offset of the two vehicles, the time to collision (TTC) and time headway (THW) are used to estimate forward collision risk. For vehicles which moves in different directions, time to the closest point approach (TCPA) model and the separating axis theorem (SAT) are used for cross collision detection.