Abstract: Road intersection is a high incidence area of traffic accidents. LTE-V2X technology is introduced into collision warning of urban intersection, and an assisted anti-collision warning algorithm in urban intersection based on v2x technology is proposed, which effectively solves the problems of information acquisition, serious occlusion and large information interaction delay between vehicles. The algorithm not only ensures that OBU can obtain other OBU data information, but also can receive real-time traffic light phase and timing information, map information and the status information of surrounding vehicles pushed by RSU, so as to share the data information of vehicles, roads, people and infrastructure. The simulation results show that the vehicles can not only obtain more accurate motion state information of vehicles in low time delay, but also improve the accuracy of collision warning and effectively avoid the risk of intersection collision, which proves the effectiveness of the application.