1. A method of operating a collision warning system in a subject vehicle, comprising the steps of: receiving, by an electronic control unit (ECU), information related to a target vehicle approaching an intersection, wherein the information related to the target vehicle has been transmitted by the target vehicle; determining, based on the received information related to the target vehicle, a distance of the target vehicle from the intersection, a current speed of the target vehicle, and an acceleration of the target vehicle by the ECU; calculating, by the ECU, an initial state of the target vehicle as the target vehicle approaches the intersection based on the distance of the target vehicle from the intersection; calculating, by the ECU, a plurality of possible end states of the target vehicle based on the initial state, the distance of the target vehicle from the intersection, the current speed of the target vehicle, and the acceleration of the target vehicle; predicting, by the ECU, a final end state of the plurality of possible end states based on the step of calculating the plurality of possible end states; wherein the final end state is associated with a predicted target vehicle action selected from a plurality of vehicle actions, the plurality of vehicle actions comprising going straight through the intersection, stopping at the intersection, and making a turn at the intersection; and initiating a providing of an alert through the collision warning system based on the predicted target vehicle action.