An anti-collision system for ground vehicles, comprising: a first transceiver device , associated with an obstacle (B), configured to generate and transmit one or more first wireless signals (SG_B_i) at pre-established time intervals, the first wireless signal (SG_B_1) carrying an obstacle identification code (ID_1); a second transceiver device , associated with a ground vehicle (A), configured to transmit one or more second wireless signals (SG_A_i) and to receive said one or more first wireless signals (SG_B_i) comprising said first wireless signal (SG_B_1) which carries the obstacle identification code (ID_1); said first transceiver device being configured to directly receive said signals (SG_A_i) transmitted by the second transceiver device associated with the ground vehicle (A); a processing unit configured to process collision data of said vehicle (A), comprising: - a first calculation module configured to determine the trajectory (D_TRJ) of the ground vehicle (A) and of the obstacle (B) as a function of said first wireless signals (SG_B_i) and said second wireless signals (SG_A_i); - a second calculation module configured to determine, on the basis of said trajectory (D_TRJ), the probability of collision between the ground vehicle (A) and the obstacle (B); - an alerting module configured to generate and send a signal of probability of collision (S_COLL) between the ground vehicle (A) and the obstacle (B) as a function of a high probability of collision between said ground vehicle (A) and the obstacle (B), wherein said processing unit is comprised in said ground vehicle (A). a first transceiver device , associated with an obstacle (B), configured to generate and transmit one or more first wireless signals (SG_B_i) at pre-established time intervals, the first wireless signal (SG_B_1) carrying an obstacle identification code (ID_1); a second transceiver device , associated with a ground vehicle (A), configured to transmit one or more second wireless signals (SG_A_i) and to receive said one or more first wireless signals (SG_B_i) comprising said first wireless signal (SG_B_1) which carries the obstacle identification code (ID_1); said first transceiver device being configured to directly receive said signals (SG_A_i) transmitted by the second transceiver device associated with the ground vehicle (A); a processing unit configured to process collision data of said vehicle (A), comprising: - a first calculation module configured to determine the trajectory (D_TRJ) of the ground vehicle (A) and of the obstacle (B) as a function of said first wireless signals (SG_B_i) and said second wireless signals (SG_A_i); - a second calculation module configured to determine, on the basis of said trajectory (D_TRJ), the probability of collision between the ground vehicle (A) and the obstacle (B); - an alerting module configured to generate and send a signal of probability of collision (S_COLL) between the ground vehicle (A) and the obstacle (B) as a function of a high probability of collision between said ground vehicle (A) and the obstacle (B), - a first calculation module configured to determine the trajectory (D_TRJ) of the ground vehicle (A) and of the obstacle (B) as a function of said first wireless signals (SG_B_i) and said second wireless signals (SG_A_i); - a second calculation module configured to determine, on the basis of said trajectory (D_TRJ), the probability of collision between the ground vehicle (A) and the obstacle (B); - an alerting module configured to generate and send a signal of probability of collision (S_COLL) between the ground vehicle (A) and the obstacle (B) as a function of a high probability of collision between said ground vehicle (A) and the obstacle (B), wherein said processing unit is comprised in said ground vehicle (A). <EOS>