As part of a system allowing the recognition of an

entire road traffic situation in real time a detector

for other vehicles following the ego vehicle has been

developed. It generates a distance-invariant object

representation to overcome the difficulties caused

by variations in the visual appearance of objects

when they are seen different distances. The

vehicle detector was implemented on different vision

systems and successfully tested in a variety of realworld

scenes-As part of a system allowing the recognition of an

entire road traffic situation in real time a detector

for other vehicles following the ego vehicle has been

developed. It generates a distance-invariant object

representation to overcome the difficulties caused

by variations in the visual appearance of objects

when they are seen　different distances. The

vehicle detector was implemented on different vision

systems and successfully tested in a variety of realworld

scenes