A warning apparatus for a vehicle determines a contact possibility of the vehicle contacting with an object that is present in front of the vehicle according to a relative distance between the vehicle and the front object, a relative speed between the vehicle and the front object, and the like, and provides a contact possibility warning by changing at least one of the driving torque and braking torque of the vehicle according to the contact possibility. The warning apparatus detects, an intention of the driver of the vehicle to bring the vehicle closer to the front object in a steady driving state of the vehicle by, for example, changing a lane of the vehicle. The warning apparatus calculates a correction value to change the driving torque or braking torque according to a result of the detection, delays the timing of providing the contact possibility warning, and controls braking force.