A vehicle intersection warning method is provided. The method comprises exchanging host vehicle information and remote vehicle information between a host vehicle and a remote vehicle, determining a presence of a road intersection based on at least one of the host vehicle information and the remote vehicle information. determining, by operation of a processor, whether a possibility of contact between the host vehicle and the remote vehicle exists proximate the intersection based on the exchanged host vehicle information and remote vehicle information, and evaluating an operating condition of a brake of the host vehicle while the possibility of contact exists to determine a type of warning to provide to the host vehicle.