This paper presents a collision warning system that uses laser radar to measure the distance to a preceding vehicle and issues an audible warning to alert the driver if a safe headway is not maintained. The laser radar system is of the cooperative type in that it detects light reflected from a reflex reflector attached at the rear of other vehicles. With a 10-watt pulsed laser, a maximum detection range of over 100m is obtained. The construction and operation of the collision warning system are described along with the configuration of the optical system used in the laser radar head and the results of detection performance evaluations.