US Patent 9884585 Exterior vehicle alerting system

An exterior alerting system for a vehicle. The system may include a sensor, a controller, and an alerting device. The sensors maybe configured to detect an object exterior to the vehicle. Additionally, the controller may be configured to receive a position of the object from the sensor, calculate a danger zone based on a trajectory of the vehicle and the position of the object, and generate at least one exterior alerting signal when the vehicle cannot avoid the danger zone.