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Nearly one third of all documented vehicle collisions are reported at urban and rural intersections, and this number continues to rise in spite of technological innovations for vehicle safety. Most collision avoidance systems currently under investigation are based on road-vehicle or inter-vehicle communication. However, reliability remains an issue, as high mobility often leads to message collisions and link breakage. In this paper reliable, real-time intersection collision avoidance (ICA) system based solely on infrastructure communication is proposed. ICA utilizes telematics and wireless sensor networks (WSN) to monitor approaching traffic, detect possible collision, and then transfer information to drivers, warning them of high collision probability.