Visible light communication (VLC) allows low-cost, simple and flexible optical wireless communication (OWC) transmission. In this work, we put forward and demonstrate for the first time 100 m non-flickering image sensor based VLC using under-sampled phase shift on-off keying (UPSOOK) and 6-bit 4-light-emitting-diode (LED) spatial modulation. As each light emitting diode (LED) can provide three well distinguished intensity states, 6-bit data can be realized by using only 4 LEDs in the vehicle rear lamps. Bit-error-rate (BER) measurements at different camera ISO values are also studies. Experimental results show that 130 m long distance 120 bit/s image sensor based VLC system can be achieved using a single white-LED at ISO = 800. Results also show that 100 m long distance 720 bit/s image sensor based VLC system can be realized using 4 LEDs at ISO = 800. Both results satisfy the pre-forward error correction BER (pre-FEC, BER = 3.8 × 10−3).