Enhancing traffic safety is one of the fundamental objectives of Intelligent Transport Systems (ITS), and it aligns closely with the principles of sustainable transport. Due to specific differences in infrastructure, vehicles, and users’ behavior, places where different modes of traffic intersect are recognized as critical points of the traffic system, making them crucial areas for the implementation of Sustainable Urban Mobility Plans (SUMPs). The SUMPs aim to create urban mobility that is both environmentally friendly and safe for all users. The continuous development and widespread adoption of innovative ITS technologies have paved the way for a system that can provide drivers with real-time information about both immediate and potential dangers at these critical points. This paper presents a comprehensive review of prior research conducted in the field, investigating the impact of information systems on drivers’ behavior, various detection and communication solutions that can be effectively integrated into such a system, and a brief overview of the models and solutions that have been developed to warn drivers in a similar context. A review of the literature found that warning systems have a significant impact on driver behavior, which contributes to increased traffic safety. Furthermore, there are numerous solutions applicable to a multimodal environment. Yet, they mostly refer either to autonomous vehicles or require an additional unit of infrastructure for communication, which is not realistically applicable to the current state of traffic in most countries of the world. This paper proposes a system architecture framework for future research that would take advantage of widely available technologies and make the system accessible to different users in a multimodal environment.