A method for preventing a collision between a motor vehicle and at least one target object, the motor vehicle includes a detection system capable of detecting the target object and a warning system including at least one light module. The method includes detecting the target object and determining a position and a speed of the target object using the detection system. The method further includes estimating a critical trajectory likely to be followed by the target object in order to collide with the vehicle depending on the position and the speed of the target object, the critical trajectory being associated with a collision risk/collision time relationship. The method additional includes transmitting at least one light warning to the driver of the vehicle using the light module of the warning system.