PURPOSE: To allow the driver to drive a vehicle safely providing a means giving clearly a position relation of the vehicle and an object to the driver.

CONSTITUTION: The system is provided with a supervisory camera 34 fitted to a vehicle toward an object and picking up a video image within a range of a visual angle (b), one-pattern recording sections 3,4 storing the video image at a point picked up by the supervisory camera 34 and the video image at a next point being a moving destination of the vehicle for each picture element arranged in a predetermined field angle, a moving direction and moving quantity detection section 9 calculating a distance from the vehicle to the object based on a change in the picture obtained by the two picture data stored in the recording sections 3, 4, a polar coordinate conversion section 16 generating a picture of the vehicle and the object viewed from the side or the upper direction based on the distance calculated by the moving direction and moving quantity detection section 9 and the two picture data and a display device 18 displaying the picture generated by the polar coordinate conversion section 16.