Systems and methods are directed to deploying warning devices by an autonomous vehicle. In one example, a system includes one or more processors and memory including instructions that, when executed by the one or more processors, cause the one or more processors to perform operations. The operations include obtaining data indicating that a vehicle stop maneuver is to be implemented for an autonomous vehicle. The operations further include determining whether one or more warning devices should be dispensed from the autonomous vehicle during the vehicle stop maneuver based in part on the obtained data. The operations further include, in response to determining one or more warning devices should be dispensed from the autonomous vehicle, determining a dispensing maneuver for the one or more warning devices, and providing one or more command signals to one or more vehicle systems to perform the dispensing maneuver for the one or more warning devices.