Abstract: A vehicle encroachment warning system comprising at least one rearward oriented sensing circuit for identifying a positional relationship and velocity of an approaching object. The sensing circuit can be a digital image capturing system, such as video. The system integrates a controller functioning as a user interface. The controller provides alerts and other various information to the user. The controller maintains a history of metrics throughout the period of use. An application enabled on a Smartphone can be used as the controller. Features of the Smartphone enhance the system, enabling communication between the system and vehicles in the proximity, automatic dialing to e-911 or others upon sudden motions (such as an impact), etc. The system can employ a single stage sensing system, such as a computer vision analysis or a two stage, using video analysis, then transitioning to a higher resolution system, such as radar.