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Due to recent trends in society, enhanced car safety is strongly required. To prevent traffic accidents, it is important to estimate the direction of approaching vehicles at intersections. Conventional research employs the cross correlation of a 4-microphone array to detect a single approaching vehicles, the detection of multiple vehicles has not yet been attempted. This paper describes a technique that uses a linear microphone array with four microphones to detect two approaching vehicles simultaneously. Field trials show that the proposed scheme offers accurate direction estimation of two approaching vehicles.