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In this paper, we propose a real-time vehicle detection system based on stereo vision system. Our system is composed of pipelined parallel processing techniques based on dedicated hardware architecture. The entire vehicle detection process, including histogram equalization, Canny edge detection, vehicle corner detection, vehicle region expansion, and vehicle validation, is made using a single field-programmable gate array (FPGA) without any external devices. Our system is about 3 times faster than a software program on a computer, and it shows high accuracy and low false rate. Thus, our proposed system is suitable for real-time processing.