System and method for preventing accidents between first and second vehicles at intersections in which the absolute position and velocity of the first vehicle are determined, map data relating to edges of lanes of roadways, edges of roadways and the location of traffic control devices is stored in a map database and the status of the traffic control devices is provided to the first vehicle when needed. The absolute position and velocity of the second vehicle are determined and a collision between the first and second vehicles is predicted based on the position and velocity of the first and second vehicles, the map data and the status of the traffic control devices. An action or changing operation is initiated by a reactive component or system in the first and/or second vehicle when a collision is predicted.