In a warning apparatus for a vehicle, a primary controller (5) calculates
a collision time (TTC) according to the distance between the vehicle and an object
that is present in front of the vehicle and a relative speed between the vehicle
and the front object. According to the collision time, the primary controller sets
a correction value (Fc) for at least one of the driving force and braking force
of the vehicle and provides a contact possibility warning by applying a negative
acceleration to the vehicle according to the correction value. The correction value
is set according to comparison between the collision time and a threshold and according
to the collision time. A resilient coefficient (k—TTC) of a virtual
spring (502) is increased so that the correction value may increase as the
speed of the vehicle increases.