Blind spot warning (BSW) systems play an important role in advanced driving assistance systems (ADAS). Crashes are frequently happened when drivers change their host lanes without taking notice of the vehicles in the blind spot area. In this paper, a BSW system is developed and has been real road verified with CCD/CMOS cameras. The proposed algorithm is robust to adapt different weather conditions in day and night, including sunny, cloudy and rainy. It has been implemented on our self-designed DSP system with a 600M Hz core processor. It deserves to be mentioned that the bilateral BSW function is completed on one DSP system and it processes more than 20 frames per second in CIF image format. The average detection ratio achieves 95.09%. In the future, this system will be integrated with lane departure warning systems, previous vehicle warning systems and parking assistance systems to be the omni-directional ADAS.