Systems and methods are disclosed to assist a driver with a dangerous condition by creating a graph representation where traffic participants and static elements are the vertices and the edges are relations between pairs of vertices; adding attributes to the vertices and edges of the graph based on information obtained on the driving vehicle, the traffic participants and additional information; creating a codebook of dangerous driving situations, each represented as graphs; performing subgraph matching between the graphs in the codebook and the graph representing a current driving situation to select a set of matching graphs from the codebook; determining a distance metric between each selected codebook graphs and the matching subgraph of the current driving situation; from codebook graphs with a low distance, determining potential dangers; and generating an alert if one or more of the codebook dangers are imminent.