Method for warning a driver of a vehicle , in particular a truck, in turn manoeuvres comprising: - Generating (S1) an adaptive monitoring area for the vehicle based on at least a maximum lateral acceleration of the vehicle at a current longitudinal velocity of the vehicle ; - Identifying (S2) a vulnerable road user ,VRU, within the adaptive monitoring area ; - Determining (S3, S4) a driver's intention to turn the vehicle ; - wherein the step of determining the driver's intention to turn the vehicle includes: - Determining (S3) a probability of the driver intends to turn ; and - Determining (S4) a probability of the driver is turning ; - Determining (S5) whether there is a collision risk between the vehicle and the VRU ; and wherein, when it is determined that: - a VRU is identified within the adaptive monitoring area ; and, - the driver does not intend to turn based on the determined probability of the driver intends to turn lying below a first threshold; a warning signal SW, is output warning the driver that a VRU is in vicinity of the vehicle and that a collision may occur in case the driver starts turning; and when it is determined that - the driver is turning based on the determined probability of the driver is turning lying above a second threshold; a braking signal, SB, is additionally output for braking the vehicle . - Generating (S1) an adaptive monitoring area for the vehicle based on at least a maximum lateral acceleration of the vehicle at a current longitudinal velocity of the vehicle ; - Identifying (S2) a vulnerable road user ,VRU, within the adaptive monitoring area ; - Determining (S3, S4) a driver's intention to turn the vehicle ; - wherein the step of determining the driver's intention to turn the vehicle includes: - Determining (S3) a probability of the driver intends to turn ; and - Determining (S4) a probability of the driver is turning ; - Determining (S5) whether there is a collision risk between the vehicle and the VRU ; and wherein, when it is determined that: - a VRU is identified within the adaptive monitoring area ; and, - the driver does not intend to turn based on the determined probability of the driver intends to turn lying below a first threshold; a warning signal SW, is output warning the driver that a VRU is in vicinity of the vehicle and that a collision may occur in case the driver starts turning; and when it is determined that - the driver is turning based on the determined probability of the driver is turning lying above a second threshold; a braking signal, SB, is additionally output for braking the vehicle . - Determining (S3) a probability of the driver intends to turn ; and - Determining (S4) a probability of the driver is turning ; - Determining (S5) whether there is a collision risk between the vehicle and the VRU ; and wherein, when it is determined that: - a VRU is identified within the adaptive monitoring area ; and, - the driver does not intend to turn based on the determined probability of the driver intends to turn lying below a first threshold; - a VRU is identified within the adaptive monitoring area ; and, - the driver does not intend to turn based on the determined probability of the driver intends to turn lying below a first threshold; a warning signal SW, is output warning the driver that a VRU is in vicinity of the vehicle and that a collision may occur in case the driver starts turning; and when it is determined that - the driver is turning based on the determined probability of the driver is turning lying above a second threshold; - the driver is turning based on the determined probability of the driver is turning lying above a second threshold; a braking signal, SB, is additionally output for braking the vehicle . <EOS>