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This paper presents a three-level intersection warning system (IWS) with a distance-based warning message generator. The performance of the IWS was studied with an integrated vehicle traffic simulator (VTS) and a real-time wireless simulator (WS) for an urban intersection environment. The IWS performance was evaluated from both the system point of view and driver's point of view. The simulation results show that the IWS can significantly reduce both the collision percentage and collision speed. It has been observed that smaller warning message generation intervals can more effectively avoid collisions and lower the collision speed.