To provide a collision warning device which does not give unnecessary warning and which facilitates a countermeasure to sideway rushing by integrally judging the surrounding situation of its own vehicle, and issuing proper warning.

This device is provided with laser radars (object detecting means) 3 and 4 which detect whether an object is present in the surrounding detection area of its own vehicle, a display 6 which functions as a warning means which issues warning when the presence of the object is detected by the laser radars 3 and 4, a speaker 7, a risk calculating means 5a which calculates collision risk on the basis of a distance between the object which is present in the detection area and its own vehicle 2 and the behavior of the object such as the relative moving direction and moving speed of the object to its own vehicle and a warning controlling means 5b which outputs warning corresponding to the risk of the object to the display 6 and the speaker 7.