A vehicle surroundings monitoring apparatus comprising: an imaging section that images a situation around a vehicle; a vehicle information acquisition section that acquires a vehicle speed, and calculates a vehicle acceleration based on the acquired vehicle speed; a camera attitude estimation section that estimates a change amount of an attitude of a camera used by the imaging section based on the vehicle acceleration calculated by the vehicle information acquisition section; a distance calculation section that calculates a road surface based distance to an object from the image captured by the imaging section and the change amount of the camera attitude estimated by the camera attitude estimation section; a distance information storage section that stores as past distance information the real time distance information calculated by the distance calculation section; a distance information update determination section that determines whether an updated distance information is using the real time distance information calculated by the road surface based distance calculation section or the past distance information stored in the distance information storage section, based on the change amount of the camera attitude estimated by the camera attitude estimation section; and an output information generation section that generates output information including vehicle-to-object distance information in accordance with the updated distance information determined by the distance information update determination section; wherein the distance information update determination section determines that: • the updated distance information is using the present distance information calculated by the distance calculation section, if the change amount of the camera attitude is below a pre-set threshold value, and • the updated distance information is using the past distance information stored in the distance information storage section, if the change amount of the camera attitude is greater than or equal to the threshold value; and wherein the camera attitude estimation section knows camera installation conditions and camera characteristics, and wherein the change amount of the camera attitude includes a fluctuation amount of a pitch angle due to the behavior of the vehicle. an imaging section that images a situation around a vehicle; a vehicle information acquisition section that acquires a vehicle speed, and calculates a vehicle acceleration based on the acquired vehicle speed; a camera attitude estimation section that estimates a change amount of an attitude of a camera used by the imaging section based on the vehicle acceleration calculated by the vehicle information acquisition section; a distance calculation section that calculates a road surface based distance to an object from the image captured by the imaging section and the change amount of the camera attitude estimated by the camera attitude estimation section; a distance information storage section that stores as past distance information the real time distance information calculated by the distance calculation section; a distance information update determination section that determines whether an updated distance information is using the real time distance information calculated by the road surface based distance calculation section or the past distance information stored in the distance information storage section, based on the change amount of the camera attitude estimated by the camera attitude estimation section; and an output information generation section that generates output information including vehicle-to-object distance information in accordance with the updated distance information determined by the distance information update determination section; wherein the distance information update determination section determines that: • the updated distance information is using the present distance information calculated by the distance calculation section, if the change amount of the camera attitude is below a pre-set threshold value, and • the updated distance information is using the past distance information stored in the distance information storage section, if the change amount of the camera attitude is greater than or equal to the threshold value; and • the updated distance information is using the present distance information calculated by the distance calculation section, if the change amount of the camera attitude is below a pre-set threshold value, and • the updated distance information is using the past distance information stored in the distance information storage section, if the change amount of the camera attitude is greater than or equal to the threshold value; and wherein the camera attitude estimation section knows camera installation conditions and camera characteristics, and wherein the change amount of the camera attitude includes a fluctuation amount of a pitch angle due to the behavior of the vehicle.