A method of estimating an intersection location for a vehicle safety system is disclosed. The method includes steps of calculating a stopping distance according to operating parameters of the motor vehicle. The method also includes a step of determining a location for an intersection using the stopping distance and the location of the vehicle. The method further includes steps of determining a distance between a remote vehicle and the intersection. A vehicle safety system is controlled according to the distance between the motor vehicle and the intersection and the distance between the remote vehicle and the intersection.