Surroundings monitoring system

A system for monitoring surroundings of a vehicle, comprising:

• a first imaging device provided on a side of a host vehicle to generate a first image of side and rear directions of the host vehicle;
• a second imaging device provided on a rear of the host vehicle to generate a second image of the rear direction of the host vehicle;
• and
• a control device configured to generate a synthesized image by synthesizing a reference image extracted from the first image and a modified image extracted from the second image,
• wherein the control device is configured to generate the synthesized image in response to a distance between a counterpart vehicle corresponding to an object commonly included in the first image and the second image and the host vehicle becoming less than or equal to a first threshold distance by:
• dividing an area occupied by a host vehicle image of the host vehicle in the first image into a first modified synthesis area and a second modified synthesis area;
• maintaining the host vehicle image to be included in the first modified synthesis area;
• and
• mapping the modified image to the second modified synthesis area.