In this paper, we design an on-road vehicle detection system based on the combination of a camera and a LIDAR system. In the proposed system, the candidate area is selected from the LIDAR data using a grouping algorithm. Then, the selected candidate area is scanned by an SVM to find an actual vehicle. The morphological edged images are used as features in a camera. The principal components of the edged images called eigencar are employed to train the SVM. We conducted experiments to show that the on-road vehicle detection system developed in this paper demonstrates about 80% accuracy and runs with 20 scans per second on LIDAR and 10 frames per second on camera.