A parking assisting system

A camera unit, and a parking assistance system comprising a display for displaying the front or the back image of the vehicle photographed by the camera unit for photographing the front or the rear image of the vehicle, the parking assistance system from the vehicle a distance generating a vertical first and second parking guide lines apart from each other in area, and a processor unit configured to generate an estimated traveling locus line in accordance with the steering angle information obtained from the steering angle sensor of the vehicle; And it may include a front or rear of the image of the photographed vehicle the first and second parking guide line overlay section that overlays (overlay) the estimated traveling locus line.