The present invention relates to a vehicle anti-collision warning device that can reduce the cost by configuring the device by a relatively simple and inexpensive configuration, and further can exhibit accurate alarm performance even at a short distance.;The apparatus of the present invention includes a CCD camera unit mounted in the front position of the host vehicle to capture the image around the preceding vehicle; A signal processing unit which processes the image captured by the CCD camera unit to determine whether there is a match between the existence of the preceding vehicle and the light irradiated to the preceding vehicle; A left light emitting part installed on a rotating plate mounted on the left side of the front of the vehicle; A left motor driver for driving a left motor for rotating the left rotating plate; A left rotation angle detector for detecting a rotation angle of the left light emitting unit; A right light emitting unit installed on a rotating plate mounted on the front right side of the vehicle; A right motor driver for driving a right motor for rotating the right rotating plate; A right rotation angle detector for detecting a rotation angle of the right light emitting unit; An alarm unit for alerting a possibility of collision with the preceding vehicle; A look-up table that stores the distance between the host vehicle and the preceding vehicle according to the distance and angle between the left and right light emitting units and controls the operation of each unit, and when matching information is received from the signal processor, And a controller configured to query the look-up table to calculate a distance between the host vehicle and the preceding vehicle and to control the driving of the alarm unit based on the distance between the host vehicle and the preceding vehicle.
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