Safety systems and methods are provided for use in a vehicle with a closure that defines a pivoting range when open. The safety system includes a sensor configured to collect data associated with an object in a target zone at least partially surrounding the vehicle; and a processor coupled to the sensors and configured to selectively operate in a first mode and a second mode based on a vehicle characteristic. The processor is configured to, in the first mode, detect the object and generate a first warning based on the object; and in the second mode, detect the object and determine a collision threat between the object and the pivoting range of the closure, and generate a second warning based on the collision threat.