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Calspan SRL Corporation is currently developing an on-vehicle threat detection system for intersection collision avoidance (ICA) as part of its ICA program with the National Highway Transportation Safety Administration. This paper briefly reviews the system design and describes recent efforts that include the development of a simulation of a multitarget tracker and collision avoidance (C/A) algorithm used to predict system performance in a variety of target configurations in various ICA crash scenarios. In addition, a current headway radar was mounted on the Calspan Instrumented Vehicle (CIV) and in-traffic data were recorded for two limited crash scenarios. Warning functions were developed through the simulation and applied to the recorded data (non-real-time signal processing). This research demonstrates the feasability of preventing many intersection collisions.