The present invention describes an anti-collision system (1) for ground vehicles, comprising a first transceiver device (4), associated with an obstacle (B), configured to generate and transmit one or more wireless signals (SG_B_i), at pre-established time intervals, the first wireless signal (SG_B_1) carrying an obstacle identification code (ID_1); a second transceiver device (3), associated with a ground vehicle (A), configured to transmit one or more wireless signals (SG_A_i) and to receive said one or more wireless signals (SG_B_i) comprising said first wireless signal (SG_B_1) carrying the obstacle identification code (ID_1); a processing unit (20) configured to process collision data of said vehicle (A) comprising: a first calculation module (21) configured to determine the trajectory (D_TRJ) of the ground vehicle (A) and the obstacle (B) as a function of said wireless signals (SG_B_i) and said wireless signals (SG_A_i); a second calculation module (23) configured to determine on the basis of said trajectory (D_TRJ) the probability of collision between the ground vehicle (A) and the obstacle (B); an alerting module (24) configured to generate and send a signal of probability of collision (S_COLL) between the ground vehicle (A) and the obstacle (B) as a function of a high probability of collision between said ground vehicle (A) and the obstacle (B). The invention further describes a corresponding method and computer program.