We developed a system that detects the vehicle driving immediately ahead of one's own car in the same lane and measures the distance to and relative speed of that vehicle to prevent accidents such as rear-end collisions. The system is the first in the industry to use non-scanning millimeter-wave radar combined with a sturdy stereo image sensor, which keeps cost low. It can operate stably in adverse weather conditions such as rain, which could not easily be done with previous sensors. The system's vehicle detection performance was tested, and the system can correctly detect vehicles driving 3 to 50 m ahead in the same lane with higher than 99% accuracy in clear weather. Detection performance in rainy weather, where water drops and splashes notably degraded visibility, was higher than 90%.