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The work described in this paper is part of the EUCLIDE project (enhanced human machine interface for on vehicle integrated driving support system), which aims at developing a driving support system to be helpful in reduced visibility. This paper focuses on the definition of the warning strategy of the EUCIDE system. The aim is to achieve the highest balance between a totally supportive and a non-disturbing system. The design of the system followed a user centred approach starting from a reference model of cognition. A first design of the interface was tested in a static driving simulator; a second one was evaluated in a dynamic simulator before developing a final design, which was implemented in two real vehicles and tested in real traffic situations. The paper describes this design process and concentrates on the in-vehicle integration process and on the road tests with subjects.