1. A host vehicle having a plurality of sensors that provide coverage over an entire azimuth around said host vehicle, said host vehicle having a processor that cooperates with said plurality of sensors to perform a method of quantifying a collision risk of said host vehicle with remote objects over said entire azimuth, said method comprising the steps of: A) collecting and preserving a short-term history of sensor trajectory data, velocity data, acceleration data and range data and azimuth data pertaining to said objects; B) identifying leading edges of remote objects according to the minima of said range data and said azimuth data from said step A); C) linking the most recently identified said leading edges from said step B) individually to said leading edges stored in said short-term history to define said trajectory data of said remote objects based on a frame of reference relative to said host vehicle; D) calculating said velocity data and said acceleration data of said leading edges based on said trajectory data; E) quantifying collision risk of the host vehicle with said leading edges to establish a risk value; and F) determining an evasive maneuver for said host vehicle based on a vector sum of high risk leading edge risks and locations if the collision risk is above said predetermined risk value from said step E).