A vehicle intersection monitoring method includes exchanging host and remote vehicle information including information pertaining to host and remote vehicle locations and headings, respectively, and determining whether the host and remote vehicles are travelling on converging paths based on the host vehicle and/or remote vehicle information. The method further includes determining a possibility of the host and remote vehicles contacting each other at a contact location based on host and remote vehicle travel times from the host vehicle and remote vehicle locations, respectively, to the contact location that is determined based on the host and remove vehicle information, determining a threshold value based on a current moving state of the host vehicle while the possibility of the host and remote vehicles contacting each other exists, and evaluating whether to perform a threat mitigation operation based on a condition of the host vehicle in relation to the threshold value.