Abstract: A phased array based radar and vehicular safety warning system for collision avoidance, including a phased array based radar, a controlling processor, and a warning system that also provides a warning to the driver of the equipped vehicle as well as drivers of other, non-equipped automobiles involved in an unsafe driving condition. The phased array radar includes a flexible antenna array that may be mounted conformally on existing automobiles without detracting from their design curvature. In one embodiment a pair of phased array radar antenna may be oriented towards opposing sides of an equipped automobile to provide warning surveillance of vehicles laterally approaching the equipped auto from the sides. In another embodiment a phased array radar antenna is oriented to the rear of the equipped automobile to provide warning surveillance of vehicles following the equipped auto too closely, and for warning of unsafe lane changes.