Method for generating a perspective-corrected and/or trimmed overlay for an imaging system of a motor vehicle

A computer-implemented method for generating a perspective-corrected overlay or trimmed overlay for a 2D image representing an environment of a vehicle for an imaging system of the vehicle, comprising:

• receiving 3D data of at least one part of the vehicle's environment represented in the 2D image, the 3D data including physical characteristics of a three-dimensional (3D) obstacle within the environment;
• determining, based at least in part on a steering angle of the vehicle, a predicted path of travel of the vehicle's wheels which when displayed as an overlay in the 2D image forms together with the 2D image a combined 2D image;
• obtaining, based at least in part on the 3D data, an adapted path of travel having a direction or length of travel different from the predicted path of travel, the adapted path of travel corresponding to a perspective-corrected sub-section or trimmed sub-section of the predicted path of travel and which when displayed as the overlay in the 2D image appears to follow a surface topography of the environment in the 2D image or appears to terminate at the 3D obstacle if the 3D obstacle is impassable for the vehicle.