Although many kinds of collision pre-warning algorithms and systems for vehicles were proposed in order to prevent accidents in past years, two problems have to be resolve in order to enhance the accuracy of collision detection. First, a vehicle does not always keep the same velocity when it is moving. Second, the curve road condition should be considered. In this paper, we proposed an Advanced Cooperative Collision Warning algorithm named ACCW to deal with these two problems. Basically, ACCW uses the acceleration parameter to correct some errors that are caused by velocity and direction changing. The simulation results show that that the proposed ACCW algorithm has high accuracy's warning rates in both intersection and curve situations.