Method for providing vulnerable road user warnings in a blind spot of a parked vehicle

Vulnerable road users (VRUs) in blind spots of approaching vehicles at crossing locations may be provided warnings by a parked vehicle monitoring the location. In one embodiment, a parked vehicle detects a pedestrian location and a pedestrian trajectory of a first pedestrian. The parked vehicle also detects a vehicle location and a vehicle trajectory of at least a first moving vehicle. If the parked vehicle determines that the first moving vehicle is a risk to the first pedestrian, it may send to the first moving vehicle a V2V message comprising information about the trajectory of the first pedestrian. In response to receiving a response from the first moving vehicle indicating intent to yield to the first pedestrian, the parked vehicle may indicate to the first pedestrian that it is safe to cross.