US Patent 10059261 Collision warning system

A vehicle collision warning system including a vehicle that includes a first sensor configured to monitor for an exit condition, a second sensor configured to monitor for a hazard condition, an internal warning signal system configured to emit a warning signal to warn a vehicle occupant about the hazard condition, the internal warning signal system including at least one warning device configured to emit the warning signal, and a processor configured to detect an exit condition using a first signal from the first sensor, detect a hazard condition using a second signal from the second sensor, and control the at least one warning device in response to the hazard condition.