System to Communicate Vehicle Intent Using Projection

Communicating vehicle intent using projection includes receiving an exception scene generated using scene data captured by one or more systems of a vehicle. The exception scene is indicated by a detection of at least one potential hazard to a safe operation of the vehicle, and the vehicle includes a projector. A hazard type associated with the potential hazard(s) and one or more gestures are determined using the exception scene. A drive plan for the vehicle based on the hazard type and the one or more gestures is generated. A representation of the drive plan in an area external of the vehicle is displayed, using the projector of the vehicle, in a visually perceptible manner. The drive plan is executed by a control system of the vehicle.