Abstract: An improvement of a vehicle collision anticipating method and device using transmitted and reflected frequency-modulated continuous waves is provided. A low frequency wave is produced by mixing a part of transmitted wave and a reflected wave from the object. The low frequency wave and a Doppler signal obtained from the low frequency wave are signal processed so as to generate signals. A predetermined distance range is obtained by multiplying a time which is determined by the distance between the vehicle and object and the velocity of said object with respect to the vehicle obtained from the Doppler signal, by a relative velocity of the object with respect to the vehicle. A collision of the object against the vehicle is anticipated by detecting the object entering the predetermined distance range in front of the vehicle.