A system and method for providing vehicle collision avoidance at an intersection include determining environmental parameters associated with a vicinity of the intersection. The system and method also include estimating a path of travel of a reference vehicle and a target vehicle, wherein the path of travel of the reference vehicle and the target vehicle are based on the environmental parameters and parameters pertaining to the reference vehicle and the target vehicle. Additionally, the system the method include estimating a probability of collision between the reference vehicle and the target vehicle at the intersection based on the path of travel of the reference vehicle and the target vehicle and providing a collision avoidance response, wherein a type of the collision avoidance response is based on the probability of collision between the reference vehicle and the target vehicle at the intersection.