A vehicle guidance system assists a driver in maneuvering a vehicle with respect to an object in a scene. The system includes a steering angle sensor, a camera device, a video processing module (VPM), and a human-machine interface (HMI). The sensor is configured to monitor the angular position of a vehicle wheel. The device is configured to capture an original image of a scene having the object. The VPM is configured to receive and process the original image from the device, detect the object in the original image, receive and process the angular position from the sensor, generate a vehicle trajectory based on the angular position, and orientate the trajectory with regard to the object. The HMI is configured to display a processed image associated with the original image and a trajectory overlay associated with the trajectory from the VPM. Together, the object is displayed in relation to the overlay.