A warning system for an automated vehicle, the system comprising: an object detector used to determine a separation distance and a direction to a target vehicle from a host vehicle; a location detector used to provide global positioning system coordinates (GPS-coordinates) of the target vehicle by offsetting host coordinates of the host vehicle in accordance with the separation distance, and the direction; a transceiver used to transmit a proximity warning to the target vehicle; a controller in communication with the object detector, the location detector, the transceiver, and vehicle controls of the host vehicle, the controller configured to: determine a lane center confidence of the host vehicle; determine a danger threshold for the separation distance, the danger threshold based on the lane center confidence; operate the transceiver to transmit the proximity warning when the target vehicle drifts towards the host vehicle such that the separation distance between the host vehicle and the target vehicle is less than a distance threshold, the proximity warning including the separation distance and the GPS-coordinates of the target vehicle; and steer the host vehicle to increase the separation distance only after the proximity warning is transmitted and the separation distance is less than the danger threshold that is less than the distance threshold, characterized in that the danger threshold is adjusted based on the lane center confidence such that when the lane center confidence is relatively low the value of the danger threshold is increased so the host vehicle considers making an evasive maneuver sooner when the target vehicle and the host vehicle approach each other. an object detector used to determine a separation distance and a direction to a target vehicle from a host vehicle; a location detector used to provide global positioning system coordinates (GPS-coordinates) of the target vehicle by offsetting host coordinates of the host vehicle in accordance with the separation distance, and the direction; a transceiver used to transmit a proximity warning to the target vehicle; a controller in communication with the object detector, the location detector, the transceiver, and vehicle controls of the host vehicle, the controller configured to: determine a lane center confidence of the host vehicle; determine a danger threshold for the separation distance, the danger threshold based on the lane center confidence; operate the transceiver to transmit the proximity warning when the target vehicle drifts towards the host vehicle such that the separation distance between the host vehicle and the target vehicle is less than a distance threshold, the proximity warning including the separation distance and the GPS-coordinates of the target vehicle; and steer the host vehicle to increase the separation distance only after the proximity warning is transmitted and the separation distance is less than the danger threshold that is less than the distance threshold, determine a lane center confidence of the host vehicle; determine a danger threshold for the separation distance, the danger threshold based on the lane center confidence; operate the transceiver to transmit the proximity warning when the target vehicle drifts towards the host vehicle such that the separation distance between the host vehicle and the target vehicle is less than a distance threshold, the proximity warning including the separation distance and the GPS-coordinates of the target vehicle; and steer the host vehicle to increase the separation distance only after the proximity warning is transmitted and the separation distance is less than the danger threshold that is less than the distance threshold, characterized in that the danger threshold is adjusted based on the lane center confidence such that when the lane center confidence is relatively low the value of the danger threshold is increased so the host vehicle considers making an evasive maneuver sooner when the target vehicle and the host vehicle approach each other.