To reduce the number of traffic accidents on the roads, nowadays computers are aiding humans or taking over control from humans in vehicles. The necessity of Advanced Driver-Assistance Systems (ADAS) in vehicles is growing. New vehicles are being equipped with ADAS, like Adaptive Cruise Control (ACC), to avoid head-to-tail collisions. Still, many steps need to be taken in order to develop a fully autonomous vehicle. One of these steps is the safe crossing of a vehicle on an intersection. The crossing of an intersection is challenging as trajectories of various vehicles may overlap at a certain moment, which may result in a collision. A controller is developed to safely guide a vehicle through an intersection by avoiding a collision with one other road user, while taking a turn or going straight. The other road user can be autonomous or human driven. The controller is tested on a high fidelity model and used as an ADAS in a driving simulator.