To provide a simple safe inter-vehicle distance holding warning device for vehicle simple in structure, having a high ranging follow-up capability to a preceding vehicle even when the preceding vehicle advances to a curve, and less in number of erroneous detection.

This safe inter-vehicle distance holding warning device for vehicle comprises an origin marker detection means 2, a road linear information receiving means 4, a wheel speed input means 6, a sensor radiation angle control means 9, and a control unit 1. The control unit predicts the vehicle speed and running position of the preceding vehicle from the results of calculation of the vehicle speed data of a vehicle from the wheel speed input means and the integrated running distance data from the origin marker detected by the origin marker detection means and distance data and distance time data between the preceding vehicle and the vehicle measured by the distance sensor to control the sensor radiation angle control means so that the radiating direction of a ranging sensor can be followed up in the advancing direction of the preceding vehicle based on the predicted results and road linear information from the road linear information receiving means.