a vehicle surrounding monitoring system including a vehicle travel information detecting unit for detecting travel information of an own vehicle, a solid object recognizing unit for detecting solid objects existing in front of the own vehicle and recognizing at least a preceding vehicle from the solid objects, a target route calculating unit for calculating a target route for the own vehicle in accordance with the present position of the preceding vehicle and the present position of the own vehicle, an alarm area setting unit for setting an alarm area on the basis of the target route, and an alarm control unit for giving an alarm in accordance with an existing state of solid objects existing in the alarm area.