A method and system for sensing a potential collision of a first vehicle (11) with a second vehicle (72) is disclosed. The first vehicle generates a data signal in response to an urgent event, a transponder signal from a second vehicle (72) or from an adaptive cruise control signal from the first vehicle. The first vehicle data signal includes a first position signal corresponding to a position of the vehicle and sensor signals from the first vehicle. The second vehicle (72) receives the data signal and determines a distance and vehicle trajectory from the vehicle data, the sensor signals and the position signals. A countermeasure is activated in response to the trajectory and the distance.