Driver's workload tends to be increased during driving under complicated traffic environments like a lane change. In such cases, rear collision warning is effective for reduction of cognitive workload. On the other hand, it is pointed out that false alarm or missing alarm caused by sensor errors leads to decrease of driver' s trust in the warning system and it can result in low efficiency of the system. Suppose that reliability information of the sensor is provided in real-time. In this paper, we propose a new warning method to increase driver' s trust in the system even with low sensor reliability utilizing the sensor reliability information. The effectiveness of the warning methods is shown by driving simulator experiments.