Methods, apparatuses, and non-transitory computer readable storage media for external vehicle communication are described. A method for external vehicle communication may include determining a vehicular path for a vehicle and an extra-vehicular path for an extra-vehicular object external to the vehicle, the vehicular path based on vehicle state data including a vehicle velocity and a vehicle orientation, the extra-vehicular path based on extra-vehicular state data including an object velocity and an object orientation of the extra-vehicular object; determining when the vehicular path will intercept the extra-vehicular path based on the vehicle state data and the extra-vehicular state data; determining an object identity for the extra-vehicular object and a distance between the vehicle and the extra-vehicular object; and generating at least one external communication based on the object identity when the distance between the vehicle and the extra-vehicular object is less than a predetermined threshold distance.