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An Advanced driving simulator has been developed at Mazda Yokohama Research Center. The primary use of this simulator is to research future driver-vehicle systems. In an emergency situation, a driver must respond rapidly to perceived motion and visual stimulus to avoid an accident. In such cases, because the time delay associated with the perception of motion cues is shorter than visual and auditory cues, the driver will strongly rely upon perceived motion to control the vehicle. Hence, a driving simulator to be used in the research of driver-vehicle interactions in emergency driving must include a high performance motion system capable of large amplitude lateral motion. The Mazda simulator produces motion cues in four degrees of freedom, provides visual and auditory cues, and generates control feel on the steering wheel. This paper describes the merit of the large amplitude motion system and the features of this newly developed driving simulator.