In modern world, the drastic development of driver assistance system has made driving a lot easier than before. In order to increase the safety onboard, a method was proposed to detect STOP sign and estimate distance using a single camera. In STOP sign detection, LBP-cascade classifier was applied to identify the sign in the image, and the principle of pinhole imaging was based for distance estimation. Road test was conducted using a detection system built with a CMOS camera and software developed by Python language with OpenCV library. Results shows that that the proposed system reach a detection accuracy of maximum of 97.6% at 10m, a minimum of 95.00% at 20m, and 5% max error in distance estimation. The results indicate that the system is effective and has the potential to be used in both autonomous driving and advanced driver assistance driving systems.