Nowadays, the location technology in the field of the Intelligent Transformation System (ITS) is used generally. Most of location devices on the cars are low-cost GPS, however, it¡¦s not enough if we want to combine with the safe algorithm. Hence, we present a suit of vehicle collision-avoidance system which combined location technology with Intersection-agent in this thesis. The system uses vehicle sensors and GPS information to calculate in Extend Kalman Filter, in order to get the optimal location information. Furthermore, Map-Matching algorithm is used to match the vehicle location on the right road. As to the driver¡¦s safety, laser range scanner¡¦s data are used in fuzzy algorithm and calculate the safe distance between cars. In the intersection area where accident happened most, we also combine with Intersection-agent system to enhance safety. When moving objects cross through the intersection area, Intersection-agent system would use laser range scanner to find the moving objects¡¦ position and velocity, judging whether they can pass the intersection safely or not. Once it¡¦s not safe, system would send out warning signal to the drivers to brake cars, also, passing the position information to car location system by wireless RS-232 transceiver, to decrease location error and let vehicle¡¦s location precision more accurate. In brief, this thesis combines with vehicle location, wireless transmission, car following warning system and Intersection-agent. And make sure this system we developed can fit in with traffic requirement in many experiments.