A collision warning system notifies an occupant of a vehicle about a predicted collision between the vehicle and an object moving relative to the vehicle. The system includes an object input device, a vehicle input device, and a road detection module for generating a road signal associated with a road geometry that is visible through the windshield and located within a field of view of the occupant. The system further includes an ARHUD for generating multiple images upon the windshield and overlaid onto the road geometry. The system further includes a computer including a processor and a non-transitory computer readable storage medium storing instructions. The processor is programmed to determine a predicted collision between the object and the vehicle at a predicted time. The processor is further programmed to generate an actuation signal for actuating the ARHUD to generate the images upon the windshield and overlaid onto the road geometry.