1. A system for facilitating warning of collision between a primary principal and one or more non-primary principals, comprising: a triggering mechanism configured to determine whether a trigger condition is met based on the state of the primary principal; and a preliminary assessment mechanism, wherein when the trigger condition is met, the preliminary assessment mechanism is configured to: generate one or more collision scenarios associated with the trigger condition; assess a preliminary probability of collision in a collision scenario; and based on the preliminary probability of collision in the collision scenario, activate a specialized assessment mechanism to assess a refined probability of collision in the collision scenario.