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The objectives of this research are to develop a driving assistance system that can locate the positions of the lane boundaries and detect the existence of the front-vehicle. By providing warning mechanism, the system can protect drivers from dangerousness. In lane recognition, Gaussian filter, peak-finding procedure, and line-segment grouping procedure are used to detect land markers successfully and effectively. On the other hand, vehicle detection is achieved by using three features, such as underneath, vertical edge, and symmetry property. The proposed system is shown to work well under various conditions on the roadway. The vehicle detection rate is higher than 97%. Besides, the computation cost is inexpensive and the system's response is almost real time. Thus, the results of the present research work can improve traffic safety for on-road driving.