This paper presents a study on an intelligent vehicle that uses the driver’s subjective evaluation model. The subject’s driving task is to follow the car in front of him (the first car) and to keep the headway distance between the two cars consistent. Using ARMA model and fuzzy logic I created a subjective evaluation model that can predict the driver’s subjective evaluation while performing this driving task. I realized that a subjective evaluation feedback control system would be very useful in future vehicles.