A system for collision prevention of a host vehicle includes a camera sensor and/or a radar sensor mounted to the host vehicle and having a field of view outside of the host vehicle. A controller communicatively connected to the camera or radar sensor is configured to determine a first lateral distance between a preceding vehicle running in a same direction as the host vehicle and one of a roadway center line or an oncoming vehicle located in the opposite lane with respect to the host vehicle. The controller compares the first lateral distance to a second lateral distance to determine a danger of collision, and controls a danger warning device to generating a warning signal according to a result of the comparison. A method for collision prevention is also provided.