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Data from vehicles approaching an intersection during a red-light phase has been recorded by measuring real traffic in urban areas. Using a laser scanner based tracking system, vehicle velocities during approaches to the red light have been estimated and various metadata (such as object class, distance to the intersection when the traffic light turned from green to orange and weather data) has been collected. The experimental setup is validated using a Real-Time Kinematic (RTK) GPS system. The resulting information can be used when designing warning strategies for Advanced Driver Assistant Systems (ADAS). Examples of a warning strategy estimation for a misinterpretation of the traffic situation for both the host vehicle's driver as well as other drivers endangering the host vehicle are presented.