An obstacle sensing apparatus for vehicles which enables efficient obstacle sensing and improves sensing precision. The apparatus comprises a section for predicting a deduced traveling-passage on which the vehicle will travel, based on a steering angle, a yaw rate and a velocity of the vehicle, a section having a CCD camera, for detecting a current traveling-passage on which the vehicle is currently moving, a scanning-type radar unit for sensing obstacles within a predetermined area, and a danger level judging section for judging danger levels of the sensed obstacles, based on the deduced traveling-passage and the current traveling-passage. The danger level judging section sets the danger level of the obstacle sensed within an area, where the deduced traveling-passage and the current traveling-passage overlap with each other, to the highest danger level; the obstacle sensed in an area within the current traveling-passage and without the deduced traveling-passage, to an intermediate danger level; the obstacle sensed in an area within the deduced traveling-passage and without the current traveling-passage, to a lower danger level; and the obstacle sensed in an area without the current and deduced traveling-passages, to the lowest danger level.