Abstract: A method for performing an intersection blocking prevention for traffic participants in the vicinity of the intersection is disclosed. The method includes defining a non-blocking area for the intersection, receiving environment sensor information covering at least one exiting area and at least one entrance area adjacent to the non-blocking area and connected to the intersection. The method also includes determining a free space in the at least one exiting area as a space between the non-blocking area and the traffic participant located in the respective exiting area closest to the non-blocking area, identifying a traffic participant in the at least one entrance area with a driving path to the at least one exiting area, determining if the traffic participant fits in the free space, and sending a warning message to the traffic participant if they do not fit in the free space.