A vehicle intersection monitoring method includes exchanging host vehicle information and remote vehicle information between a host vehicle and a remote vehicle, with the host vehicle information including information pertaining to a host vehicle location, a host vehicle heading and a host vehicle intended next maneuver and the remote vehicle information including information pertaining to a remote vehicle location, a remote vehicle heading and a remote vehicle intended next maneuver. The method further includes identifying a road intersection relating to the host vehicle heading and the remote vehicle heading, selecting an intersection scenario from a plurality of intersection scenarios based on the host vehicle information and the remote vehicle information, and monitoring, by operation of a processor, a location relationship between the host vehicle and the remote vehicle according to an algorithm that is determined based on the selected intersection scenario.