1. A method to provide an Advanced Warning System (AWS) for a driver of a vehicle, comprising: capturing traffic scene types from a single camera video; generating high-level and low-level features based on 3D localization; providing the high and low level features to a hierarchical graphical model engine to process high order scenes and atomic scenes and that accounts for relationships among atomic scenes, and between atomic scenes and high-order scenes, to achieve accuracy; performing tractable learning and inference in real-time; and communicating an AWS warning to the driver.