Table 2. The previous researches for detection and tracking methods.

Researches	Detection of Candidate Vehicles	Tracking of Vehicle
Method [18]	- Lane Information Base-Road and Vehicle Shadow Area Segmentation	-
Method [14]	- Lane Information Base-Symmetry Use of vehicle based edge feature	- Use Motion vector estimation
Method [10]	- Lane Information Base- Edge information Use	- Use Detection and Tracking, not General Detect then Track
Method [15]	-Symmetry Use of vehicle based edge feature	-
Method [16]	- Edge image detection for definition of interested area- Image division using split and merge	-
Method [17]	- Boundary detection for right and left side of vehicle-Detection of the contact area of tire and road	-
Method [7]	- Normalization perform of video brightness value-Investigation of shadow area- Vertical edge detection by Haar –like Feature	-