The cooperative forward collision warning (FCW) system based on LTE-V communication has great prospect to improve drive safety. This paper studies several key issues of the system. First, we propose a novel coordinate transformation method to convert longitude and latitude in the LTE-V Basic Safety Message (BSM) into XY coordinates. Second, we establish a forward collision warning algorithm using the BSM. The algorithm uses the least square method to fit the historical trajectory and to obtain the vehicle trajectory equation. Then, the vehicle trajectory equation is used to determine whether the remote vehicle is in the same lane as the host vehicle and their positional relationship. After that, an improved collision avoidance model (ICAM) is proposed to solve the traditional collision avoidance model (TCAM) risk underestimation problem. The model assumes the host vehicle travels with a uniform acceleration during the driver’s reaction time and provides different collision avoidance condition for different scenarios. Finally, the simulation results show that our system can satisfied with the requirement of forward collision warning and the ICAM performs safer than TCAM.

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