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This paper discusses the development of a warning system that utilizes driver movement to control the timing of warning emission when it detects that the driver is not facing the vicinity of straight ahead. Driver face direction is based on information from a facial imaging camera gained through the use of facial image processing. This system was applied to the warning system that synchronized with pre-crash safety (PCS). The warning system has made it possible to output a warning that will allow drivers enough time to take obstacle-avoiding actions when a vehicle is in motion with the driver not facing the vicinity of straight ahead and it appears as though there will be a delay between the driver hearing the warning and recognizing the obstacle. Thus, by providing the driver with early warning, it is also possible to add to the damage-reducing effect of the PCS in the event of a collision.