A vehicle contact warning method and system are provided in a host vehicle. A communication device of the host vehicle receives a remote vehicle message including information pertaining to a remote vehicle including a remote vehicle location and a remote vehicle trajectory. A controller of the host vehicle prepares a host vehicle location and a host vehicle trajectory. The controller determines a possibility of contact between the host vehicle and the remote vehicle at a contact location at a contact time based on a host vehicle travel time from the host vehicle location to the contact location based on the host vehicle information and a remote vehicle travel time from the remote vehicle location to the contact location based on the remote vehicle information. The controller automatically operates an external warning device to the host vehicle, the remote vehicle, or both, upon determining the possibility of contact exists between the host vehicle and the remote vehicle.