Apparatuses and methods for providing improved in-vehicle warnings are disclosed. A driver's prior driving performance and a summary representation of that performance may be used as parameters in a hazard or collision warning algorithm. Information from sensors regarding the vehicle, driver, and external traffic and roadway conditions may be used to estimate driver performance variables in particular driving situations. Each driver performance estimate may be included into one or more overall summary variables for that driving situation. The value of these summary variables may then be used in an algorithm to control the nature and timing of a warning, when a similar situation arises again in the future.