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According to the shortcoming of present single threshold collision warning model that it has single response time, this paper designs a collision warning model based on multi-grade rule, which offers a gradual response time for driver. At first, this paper analyses driver's information perception character in the course of vehicle traveling, which offers corresponding theory foundation for the establishment of the following model. Then this paper discusses the design of collision warning model based on multi-grade rule in detail. At last, the model is verified using the actual measurement data, and result shows that driver can drive more comfortably in this model. Meanwhile, it presents good model foundation reference for intelligent collision warning system in future.