A method, a system, and computer readable medium for oncoming vehicle warning are provided. The method includes determining whether a vehicle is on an unpaved road; determining whether an oncoming vehicle is in a path of the vehicle based on communication data acquired from a communication system of the vehicle when the vehicle is on the unpaved road; and outputting an alert when the oncoming vehicle is in the path of the vehicle and the oncoming vehicle is out of a line-of-sight of the vehicle.