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We have developed a multimodal cruising assist system to achieve safety and comfort driving using dynamic multiple windows. The system enhances the drivers' abilities to perceive surrounding contexts in driving. Integrating various input/output devices and media processing functions, based on multiple ultrawide-angle cameras and multiple displays on a vehicle, we have developed a "Panoramic Imaging System" for displaying the wide-angle video data in surrounding contexts using "Single Screen Multiple Windows" presentation environment that empowers the drivers' perceptual abilities. The presentation environment presents the camera images interactively to drivers by utilizing a single front display that we have developed. Experimental results have shown the effectiveness of the proposed system for achieving safety and comfort driving.