Abstract: A rotation matrix and a translation vector between a basic camera and a reference camera are read out from a parameter storage section. At a projection conversion matrix calculating section, a projection conversion matrix capable of overlapping the road plane area included in images picked up by the basic camera and the reference camera is calculated by using the rotation matrix and the translation vector.

Abstract: A rotation matrix and a translation vector between a basic camera (12) and a reference camera (14) are read out from a parameter storage section (26). At a projection conversion matrix calculating section (28), a projection conversion matrix capable of overlapping the road plane area included in images picked up by the basic camera (12) and the reference camera (14) is calculated by using the rotation matrix and the translation vector.

Abstract: In the lighting control apparatus, according to the present invention, for an automatic following travel system in which a leading vehicle is operated by an operator, and at least one following vehicle automatically follows the leading vehicle, the leading vehicle comprises a light operating device for turning on or off lights of the leading vehicle, and a transmitter for transmitting information indicating the operation of the light operating device, and the following vehicle comprises a receiver for receiving the information from the transmitter, and a light operating device for producing an operation signal for turning on or off a light of the following vehicle, based on the information received by the receiver.