Early warning and collision avoidance

An apparatus comprising

• equipment located at an intersection of a transportation network, the equipment comprising
• inputs to receive data from sensors oriented to monitor ground transportation entities at or near the intersection,
• the data from each of the sensors representing at least one location or motion parameter of at least one of the ground transportation entities
• the data from each of the sensors being expressed in a native format of the sensor,
• the data received from at least two of the sensors being inconsistent with respect to the location or motion parameters represented by the data or with respect to the native formats of the sensors or with respect to both,
• a processor, and
• a storage for instructions executable by the processor to
• convert the data from the sensors into data having a common format independent of the native formats of the data of one or more of the sensors,
• incorporate the data that has the common format and is inconsistent with respect to the location or motion parameters into a global unified representation of the location or motion parameters of the ground transportation entities being monitored at or near the intersection, the global unified representation representing the location, speed, and heading of each of the ground transportation entities, the global unified representation represents the locations of the ground transportation entities in a common reference frame comprising a geographic coordinate system,
• determine relationships of locations and motions of two of the ground transportation entities using the global unified representation,
• predict a dangerous situation involving the two ground transportation entities based on the determined relationships, and
• send a message to at least one of the two ground transportation entities alerting it to the dangerous situation.