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Veridian, Calspan Operations is currently developing an on-vehicle threat detection system for intersection collision avoidance (ICA) as part of its ICA program with the National Highway Traffic Safety Administration. This paper briefly reviews the system design and describes recent efforts that include the development of a multi-radar collision avoidance (C/A) system. Results from in-traffic experiments utilizing two radars to simultaneously observe crossroads traffic from both directions will be presented for the first time. Warning functions were applied to the data in real time and for non-real-time signal processing. These functions warn the ICA vehicle against entering the intersection when targets are predicted to be present. This research demonstrates the feasibility of preventing many intersection collisions.