In a rendering device, a processor receives surrounding images from image capture devices placed in a vehicle, and based thereon, generates a vehicle overlaid image. The processor also receives a rudder angle .theta. from a rudder angle sensor placed in the vehicle. Then, based on the received rudder angle .theta., the processor calculates a 3D predictive trajectory of the vehicle, and on the vehicle overlaid image, renders the calculated 3D predictive trajectories thereby generating a display image. Therefore, the display image generated by the rendering device is driver-friendly.