A driver assistance system that helps a driver with safe driving must have better driver acceptance in order that the system may be effective. The system, “Human-centered ITS View Aid System,” introduced here provides kind but not annoying assistance on a driver adaptive display. The output timing of the warning and the degree of the contents to be displayed are controlled by the status of a driver and the conditions of the forward road surface and traffic to make the display driver-adaptive. A CCD camera embedded in the rear view mirror captures the driver face to monitor the drowsy and eye casting conditions. A pair of CCD cameras detects the forward road surface wet condition, and a lidar measures the inter-vehicle distance. The conditions can be transmitted to the following vehicles over the inter-vehicle communications, and vehicles without the communication unit receive the information with the functional rear lamps, which show an emergency. In addition, a pulsation sensor for a driver, and head lamps with beam control are also included in the system. The comprehensive experiments were conducted to show the feasibility of the assistance system.