<p class="zhengwen"><span lang="EN-GB">Passenger safety in vehicles is the primary concern and hence Vehicle detection for providing enough safety information for Driver Assistant System (DAS) become popular among researchers. Many approaches use differe</span><span lang="EN-GB">nt types of information such as shadow, edge, light, to detect the vehicles. Here vision based vehicle detection techniques were summarized. Following topics discussed below, camera placement and the various applications of monocular vehicle detection, common features and common classification methods, motion- based approaches and nighttime vehicle detection and monocular pose estimation. </span></p>