System and method for collision warning

A method for collision warning in a host vehicle comprising:

• detecting a collision risk between the host vehicle and an other user of the road with a detection means based on input from at least one sensor which detects at least one parameter related to the other user of the road with respect to the host vehicle;
• identifying possible options to avoid a collision between the host vehicle and the other user of the road based on input from the detection means, wherein possible options for the host vehicle to avoid a collision are identified as well as possible options for the other user of the road to avoid a collision are identified;
• calculating among the identified possible options at least one preferred avoidance action in order to avoid a collision between the host vehicle and the other user of the road;
• and if the at least one preferred avoidance action involves at least one possible option identified for the other user of the road, then generating a warning signal from the host vehicle in a direction towards the other user of the road in order to warn the other user of the road of the collision risk, the warning signal being sufficient to warn the other user without the other user having to have a transmitter/receiver to process the warning signal.