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In recent years, researches and developments on ITS are carried out to solve many problems in road traffic. IVC (inter-vehicular communications) is the key technology to realize the next generation ITS. Vehicles install telecommunication equipment, and exchange safety information directly with each other. The authors have developed vehicular collision avoidance support system (VCASS) based on IVC in order to prevent a vehicular accident beforehand. The system grasps the relative locations of vehicles by exchanging the GPS information in each vehicle. Then the system warns drivers if there is a danger of collision. VCASS can drastically reduce the potential accidents of vehicular collisions but causes warning errors and unnecessary warnings. In order to improve the accuracy of VCASS, we propose a new VCASSv2 that introduces GPS+INS hybrid scheme. We evaluate the performance of conventional collision judgment algorithm and the proposed scheme for VCASSv2. We have verified the effectiveness of the new VCASSv2 in typical road environments.