Miura et al. 2002 : Proposes a novel concept of an intelligent navigator that can give a driver timely advice on safe and efficient driving. From both the current traffic conditions obtained from visual data and the driver's goals and preferences in driving, it autonomously generates advice and gives it to the driver. Not only can operational-level advice be generated, such as emergency braking due to an abrupt deceleration of the vehicle in front, but also tactical-level advice, such as lane changing due to a congested situation ahead. Two main components of the intelligent navigator - the advice generation system and the road scene recognition system - are explained. A three-level reasoning architecture is proposed for generating advice in dynamic and uncertain traffic.