| 摘要 |
PROBLEM TO BE SOLVED: To detect the vehicular gap and the attitude angle to a preceding vehicle by photographing a marker provided in the rear part of the preceding vehicle. SOLUTION: A marker 20 is provided in the rear part of a preceding vehicle 2000 which runs ahead of a user's vehicle 100 and is photographed by a camera of the vehicle 100. The marker 20 consists of four marker elements arranged in horizontal and vertical directions, and the vehicular gap and the attitude angle like a yaw are detected by arrangement in the horizontal direction and that in the perpendicular direction of an obtained image. Since marker elements are not arranged on the same perpendicular line, an influence of smear of a CCD camera is excluded. Since four marker elements are arranged, the vehicular gap and the attitude angle can be detected even if one of them cannot be detected.
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