Integrated processing unit captures range images shot by CCD cameras which
are respectively provided on front, rear, left and right sides of a
vehicle and image processor. Location-allocation unit creates a
location-allocation model of an obstacle from the range images and road
surface images (heights of images above road surface). Vehicular swept
path calculating unit calculates a swept path of each representative
point. Collision decision calculates intersection of the obstacle of the
location-allocation model with the swept paths of the representative
points and judges whether the points cross the obstacle. When a
representative point may possibly cross the obstacle, the point is
enhanced and displayed together with the obstacle (object) on monitor.