disclosed is a method and apparatus for determining the risk of an object collision . the method includes transmitting a signal and analyzing a received signal that is indicative of the presence of a remote object . the signal is then analyzed to determine an initial azimuth value and an initial range for the remote object . subsequent received signals are continuously analyzed to continuously determine subsequent azimuth values , azimuth value velocities and accelerations , as well as subsequent range values , range value velocities and range value accelerations . the factors are then input into a predetermined formula to yield a risk assessment of collision p . the formulas for determining p can be adjusted to account for such factors as number and proximity of remote objects , as well as the speed and maneuverability of both the remote objects and the vehicle that is avoiding collisions with the remote object .