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Aiming to realize the safe driving for the elderly people and novice drivers, intelligent vehicle technologies are becoming an important research topic in recent years. While driving, sometimes they cannot handle the car in an emergency due to the poor concentration and reaction. In fact, there are a lot of car accidents caused by such people who occasionally step on the accelerator instead of the brake unexpectedly when intending to have an emergency stopping. This paper describes a recognition method for recognizing driving situation. For supporting driving by traffic situation recognition, real-time detection and robustness are increasingly required. In indoor experiments, the RoboCar was used to verify the recognition methods. The algorithm which determines the routes are able to run safety by the CCD camera was used to recognize the white line on both sides of the road. And the image matching algorithm was used to recognize the traffic signs on the routes. The experimental result with high accuracy was successfully obtained.