A vision module adapted to use video data captured by one or more sensors, the vision module being configured for installation on a first vehicle, the vision module comprising: an antenna configured to receive signals from GNSS satellites and configured to receive location and velocity data from a nearby vehicle of said first vehicle; a processor configured to execute instructions; and a memory configured to store instructions that, when the vision module is installed on said first vehicle and the instructions are executed, said instructions perform the steps of: (i) calculating location and velocity data based on said signals received from said GNSS satellites for the first vehicle; (ii) receiving said location and velocity data for a nearby vehicle; (iii) determining a probability of collision based on a comparison of the location and velocity of the first vehicle and the location and velocity of the nearby vehicle; characterized in that the memory is further configured to store instructions that, when the vision module is installed on said first vehicle and the instructions are executed, they perform steps of: (iv) calculating a most probable path for the first vehicle, wherein the most probable path is calculated from the respective location and velocity data and road attributes from map information to determine a predicted future path of the first vehicle, wherein said predicted future path is determined by (a) detecting by the vision module objects (206a, 206b) as road attributes and (b) based on the objects detected by the vision module, providing lane level positioning information to determine the probability of a collision; (v) determining a most probable path for the nearby vehicle, wherein the most probable path is calculated from the respective location and velocity data and road attributes from map information to determine a predicted future path of the nearby vehicle; wherein (vi) the step of determining a probability of collision includes performing a comparison of said most probable path of the first vehicle to said most probable path of the nearby vehicle. an antenna configured to receive signals from GNSS satellites and configured to receive location and velocity data from a nearby vehicle of said first vehicle; a processor configured to execute instructions; and a memory configured to store instructions that, when the vision module is installed on said first vehicle and the instructions are executed, said instructions perform the steps of: (i) calculating location and velocity data based on said signals received from said GNSS satellites for the first vehicle; (ii) receiving said location and velocity data for a nearby vehicle; (iii) determining a probability of collision based on a comparison of the location and velocity of the first vehicle and the location and velocity of the nearby vehicle; (i) calculating location and velocity data based on said signals received from said GNSS satellites for the first vehicle; (ii) receiving said location and velocity data for a nearby vehicle; (iii) determining a probability of collision based on a comparison of the location and velocity of the first vehicle and the location and velocity of the nearby vehicle; characterized in that the memory is further configured to store instructions that, when the vision module is installed on said first vehicle and the instructions are executed, they perform steps of: (iv) calculating a most probable path for the first vehicle, wherein the most probable path is calculated from the respective location and velocity data and road attributes from map information to determine a predicted future path of the first vehicle, wherein said predicted future path is determined by (a) detecting by the vision module objects (206a, 206b) as road attributes and (b) based on the objects detected by the vision module, providing lane level positioning information to determine the probability of a collision; (v) determining a most probable path for the nearby vehicle, wherein the most probable path is calculated from the respective location and velocity data and road attributes from map information to determine a predicted future path of the nearby vehicle; wherein (vi) the step of determining a probability of collision includes performing a comparison of said most probable path of the first vehicle to said most probable path of the nearby vehicle. (iv) calculating a most probable path for the first vehicle, wherein the most probable path is calculated from the respective location and velocity data and road attributes from map information to determine a predicted future path of the first vehicle, wherein said predicted future path is determined by (a) detecting by the vision module objects (206a, 206b) as road attributes and (b) based on the objects detected by the vision module, providing lane level positioning information to determine the probability of a collision; (v) determining a most probable path for the nearby vehicle, wherein the most probable path is calculated from the respective location and velocity data and road attributes from map information to determine a predicted future path of the nearby vehicle; wherein (vi) the step of determining a probability of collision includes performing a comparison of said most probable path of the first vehicle to said most probable path of the nearby vehicle.