A 2-loop waste heat recovery system with Rankine steam cycles for the improvement of fuel efficiency of gasoline vehicles has been investigated. A high temperature loop(HT loop) is a system to recover the waste heat from the exhaust gas, a low temperature loop(LT loop) is for heat recovery from the engine coolant cold relatively. This paper has dealt with a layout of a LT loop system, the review of the working fluids, and the design of the cycle. The design point and the target heat recovery of the LT boiler, a core part of a LT loop, has been presented and analytically investigated. Considering the characteristics of the cycle, the basic concept of the LT boiler has been determined as a shell-and tube type counterflow heat exchanger, the performance characteristics for various design parameters were investigated.