Considering　the　complementarities　of　data　obtained　by　radar　and　computer　vision,　a　method　of　preceding　vehicle　detection　using　the　image　and　the　radar　data　was　proposed.　The　improved　DBSCAN　was　proposed　to　process　the　laser　data　according　to　their　characteristics.　During　the　vehicle　detection,　the　vehicle　hypothesis　was　generated　with　the　fusion　of　laser　data　and　image.　After　vehicle　hypothesis　formation,　then,　features　were　fuzzed　and　the　vehicle　detection　was　realized　according　to　the　confidence　obtained　by　fuzzy　inference　system.　The　results　indicate　that　the　algorithm　can　detect　vehicle　without　constricts　of　lane　lines　and　it　has　good　adaptive　ability　and　anti-jamming　ability.　It　can　detect　the　proceeding　vehicles　accurately.