A vehicle warning system includes a data processor, an image processor and an estimation unit. The data processor receives a first movement data of a first vehicle to generate a first predicted travel path and receives a second movement data of a second vehicle to generate a second predicted travel path. The image processor collects image(s) from at least one video device located within a predetermined area where the first predicted travel path passes and generates the second movement data. The estimation unit receives the first and second predicted travel paths and estimates whether the first and second travel paths are intersected and whether the first vehicle will collide with the second vehicle owing to path intersection.