The pickup unit is provided in {HEAD ~ a reference vehicle} with {TAIL ~ a headlight} and working to pick up an image of the rectangular area ahead of the reference vehicle 
with
The pickup unit is provided in { HEAD ~ a reference vehicle } with { TAIL ~ a headlight } and working to pick up an image of the rectangular area ahead of the reference vehicle
OTH OTH OTH OTH OTH OTH HEAD HEAD HEAD HEAD HEAD HEAD HEAD REL TAIL TAIL TAIL TAIL TAIL TAIL OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH