To provide a system that can monitor the surroundings of a vehicle, when there are a plurality of objects about the vehicle, to notify the driver early of the presence of objects which are liable to come into contact with the vehicle in consideration of factors such as correlations between the objects.

The vehicle surroundings monitoring system 10 measures in time series the positions of a plurality of objects about the vehicle according to video captured by a pair of infrared cameras 102 to predict a "primary state" of each object according to the measured positions. A secondary state of each object is further predicted according to correlations of the primary state of each object. A frame enhancing the presence of an object liable to meet the vehicle 1 in consideration of the secondary state is displayed on a HUD (head up display) 122.

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