A vehicular warning system includes a plurality of input devices. A computing unit is electrically coupled to the input system. An input preprocessing classifies signals received from the plurality of input devices into Vehicle information, Roadway information, Traffic information, and eXogenous information (“VRT-X”) data structure. The early warning processing unit observes the VRT-X signal provided by the input preprocessing unit corresponding to an environment surrounding a vehicle, predicts future changes in the environment over a dynamically-configured range, and determines signal properties in both time and frequency domain over a moving window. Based on defined early warning classification rules, the computing unit assigns a threat level to the VRT-X signal corresponding to the environment surrounding the vehicle. Responsive to the threat level being above a threshold, the computing unit interacts with the at least one vehicle control and communication device to provide early-warning risk-mitigation control.