Abstract: There is provided a technique for improving the accuracy of estimation of a position of a nearby vehicle. A nearby vehicle position estimation system is formed that includes a relative position information obtaining part that obtains relative direction of a nearby vehicle with respect to a host vehicle, the nearby vehicle being present around the host vehicle; a map information obtaining part that obtains map information around a current position of the host vehicle; and a nearby vehicle position estimating part that obtains, based on the map information, a nearby road that overlaps a straight line extending in the relative direction from the host vehicle, and estimates that the nearby vehicle is present on the nearby road.

Abstract: Vehicle driving assistance systems, methods, and programs display an alert image superimposed on a real view on a display. The alert image is an image having a region indicating a call for attention based on a course of a dynamic obstacle, the dynamic obstacle being one or a plurality of moving obstacles. The region indicating the call for attention varies depending on a likelihood of the course of the dynamic obstacle changing due to presence of another obstacle.