Mori et al.1995 : This paper deals with dynamic vision, vehicle avoidance, navigation, and applications to guide dog robot and vehicle intelligent control system. Danger estimation of vehicles at the intersection is proposed in this paper. Traffic rules of vehicles and the locomotion strategy of robot is formulated, and finally a danger matrix is defined for each vehicle represented by its location and its moving direction. This method is implemented on an image processing system. The location, velocity, and the moving direction of a vehicle are measured by computer vision and its danger coefficient is evaluated. About 90% of vehicles at a T shape intersection have been successfully voted in danger judgment.