This paper describes the fundamental development of an intelligent car whose safety is improved by using environment-sensors. Because the most important key parts in this intelligent car are environment-sensors, we developed mainly two kinds of sensors. One is a compact scanning laser range finder whose makdng cost is sufficiently low. The other is a new type ultrasonic sensor whose detectable range is very long. Because this ultrasonic sensor is a nonscanning type and detects the position of object from the phase differences of sound waves that arrive at four microphones, the detection time is short enough. We used a CCD camera together with those sensors for rapid recognition of objects and canied out basic experiments of an intelligent car.