A power feeding system for vehicle for feeding electric power from a power transferring unit of a power feeding apparatus provided outside of a vehicle to a power receiving unit incorporated in the vehicle in a non-contact manner, comprising: first sensing means (120, 410) for sensing positional relation between said power transferring unit and said power receiving unit; first guidance control means (410, 420) for controlling said vehicle such that said vehicle is guided to said power transferring unit based on a sensed result by said first sensing means; second sensing means for sensing a distance between said power transferring unit and said power receiving unit based on an electric power feeding condition from said power transferring unit to said power receiving unit; second guidance control means (470, 420, 430, 440) for controlling said vehicle such that a position of said power receiving unit is adjusted to a position of said power transferring unit based on a sensed result by said second sensing means when said vehicle comes within a prescribed distance from said power transferring unit by said first guidance control means; wherein said power transferring unit is arranged on the ground, said power receiving unit is arranged on an underbody of the vehicle, and an area where said power transferring unit and said power receiving unit face each other is smaller than an area of said underbody of the vehicle; and - communication means (130, 240) for conducting communication between said vehicle and said power feeding apparatus characterized in that said first sensing means includes an image taking device incorporated in said vehicle for taking an image of an outside of said vehicle, an image recognition unit for recognizing a position of said power transferring unit based on an image taken by said image taking device, and wherein said first sensing means further includes a light emission unit indicating a position of said power transferring unit, said light emission unit emits light after communication between said vehicle and said power feeding apparatus is established by said communication means, said image taking device is provided on the vehicle, said light emission unit is provided on the power transmission unit and contains a plurality of light emission units, and an image of the light emission units is taken by the image taking device, wherein the positions and orientations of said light emission units are recognized by image recognition and the positions and orientations of power transferring unit and the vehicle are recognized based on the image recognition result, and said prescribed distance is a distance that does not allow said image taking device to take an image of said power transferring unit when said vehicle approaches said power transferring unit and said power transferring unit comes under a body of the vehicle. first sensing means (120, 410) for sensing positional relation between said power transferring unit and said power receiving unit; first guidance control means (410, 420) for controlling said vehicle such that said vehicle is guided to said power transferring unit based on a sensed result by said first sensing means; second sensing means for sensing a distance between said power transferring unit and said power receiving unit based on an electric power feeding condition from said power transferring unit to said power receiving unit; second guidance control means (470, 420, 430, 440) for controlling said vehicle such that a position of said power receiving unit is adjusted to a position of said power transferring unit based on a sensed result by said second sensing means when said vehicle comes within a prescribed distance from said power transferring unit by said first guidance control means; wherein said power transferring unit is arranged on the ground, said power receiving unit is arranged on an underbody of the vehicle, and an area where said power transferring unit and said power receiving unit face each other is smaller than an area of said underbody of the vehicle; and - communication means (130, 240) for conducting communication between said vehicle and said power feeding apparatus characterized in that said first sensing means includes an image taking device incorporated in said vehicle for taking an image of an outside of said vehicle, an image recognition unit for recognizing a position of said power transferring unit based on an image taken by said image taking device, and wherein said first sensing means further includes a light emission unit indicating a position of said power transferring unit, said light emission unit emits light after communication between said vehicle and said power feeding apparatus is established by said communication means, said image taking device is provided on the vehicle, said light emission unit is provided on the power transmission unit and contains a plurality of light emission units, and an image of the light emission units is taken by the image taking device, wherein the positions and orientations of said light emission units are recognized by image recognition and the positions and orientations of power transferring unit and the vehicle are recognized based on the image recognition result, and said prescribed distance is a distance that does not allow said image taking device to take an image of said power transferring unit when said vehicle approaches said power transferring unit and said power transferring unit comes under a body of the vehicle.