The invention relates to a system for assisting with driving a vehicle, including at least one sensor configured to detect the presence of an object in an environment outside the vehicle, at least one camera configured to acquire images of the environment outside the vehicle and to detect the presence of the object in the environment outside the vehicle. The at least one sensor detects at least one free space in the environment outside the vehicle, the at least one camera, on the basis of the acquired images, detects at least one free space. An electronic control unit configured to select a free space found by the at least one sensor and/or the at least one camera, the electronic control unit activates the display of images in the selected free space so as to indicate a new path to be followed by the vehicle.