Abstract: A system for monitoring surroundings of a vehicle includes a plurality of sensors and cameras for detecting approach distances of the object and capturing the object in the rear area and the side areas of the vehicle. A control code generating unit calculates distance values from the sensed distances to produce a predetermined control code corresponding to a minimum distance and a control unit generates a monitoring image by operating any one of the cameras based on the control code to produce an OSD image adapted for warning an object's approach. The OSD image is mixed with the monitoring image to display the mixed result.