For each pair of traffic participants (TPs) entering an intersection, a time to collision (TTC) value is calculated. A matrix of TTC values between TPs entering the intersection is created. A matrix of criticality values containing a respective criticality value for each pair of TPs is created. Each criticality value is determined as a function of both TTC and at least one additional weighting factor. A basic safety message (BSM) and/or a pedestrian safety message (PSM) is broadcast on behalf of at least one traffic participant based on having determined the criticality for each pair of traffic participants and having identified a near-miss and/or a potential-collision situation between traffic participants based on the respective criticality values in the matrix of criticality values. One or more warnings are provided to a pedestrian, a driver of a vehicle, and/or a cyclist based on the broadcasted BSM and/or PSM.