Abstract: An overtaking vehicle warning system includes an image photographing unit attached to a front of a vehicle to photograph an object in a forward direction of the vehicle; a driving unit receiving image data from the image photographing unit to select a region of interest, extracting a feature of a vertical edge from the region of interest to compare the feature of the vertical edge with a feature of a previous frame, and generating warning generating signal when a matched feature is equal to or greater than a threshold value; and a warning unit receiving the warning generating signal to generate an overtaking vehicle warning signal. An edge region is searched from an image photographed in the forward direction to obtain a predetermined feature, and warning is generated with respect to the overtaking vehicle by tracking a vehicle having the corresponding feature.