Patent ID: 8340894

Claim:
A method of operating a collision warning system in a motor vehicle comprising: mapping a road section proximate the motor vehicle including: receiving vehicle travel history information for the road section from a transmitter proximate the road section; evaluating potential paths for the road section based on the vehicle travel history information; wherein the road section includes an intersection between a first road and a second road; and wherein the step of evaluating potential paths for the road section further includes estimating a lane configuration on the first road as it exits the intersection using the received vehicle travel history information for the road section; determining a first path for the motor vehicle to traverse the road section including at least one lane associated with the estimated lane configuration for the intersection; receiving a signal transmitted by a target vehicle; determining a second path for the target vehicle to traverse the road section including at least one lane associated with the estimated lane configuration for the intersection; and calculating a threat of collision for the motor vehicle with the target vehicle including comparing the first and second paths.