A vehicle driving assistance system including: a plurality of rear sensor devices (12a-12c) adapted to detect the presence of an obstacle within a field of view behind and/or beside the vehicle, processing means, arranged for assessing a free manoeuvring area in a predetermined manoeuvring region in accordance with the position of at least one obstacle (O1-O3) detected, and means for detecting the running conditions of the vehicle and the actuation of manoeuvre signalling commands by the driver, the detecting means being adapted to emit a signal (s d) indicative of the running condition of the vehicle and a signal (s turn1, s turn2) indicative of the signalling of a manoeuvre, respectively, whereby the processing means are adapted to adopt one of a plurality of predetermined operating modes (LCA, RPA, LRPA, LLPA) relating to the assessment of the manoeuvring area on the basis of the signals (s d, s turn1, s turn2) indicative of the running conditions and manoeuvre signalling, and are arranged to calculate an assessed manoeuvring area in accordance with a collection of obstacle position data (O1-O3) and to compare the assessed manoeuvring area with a predetermined nominal minimum manoeuvring area, characterized in that said plurality of rear sensor devices include a plurality of orientable radar sensor devices (12a-12c) which are horizontally oriented so as to configure the respective horizontal field of view (Fa-Fc) in an integrated manner relative to the position of the vehicle, on the basis of the signals indicative of the running condition of the vehicle and of the driver's manoeuvre signalling commands. a plurality of rear sensor devices (12a-12c) adapted to detect the presence of an obstacle within a field of view behind and/or beside the vehicle, processing means, arranged for assessing a free manoeuvring area in a predetermined manoeuvring region in accordance with the position of at least one obstacle (O1-O3) detected, and means for detecting the running conditions of the vehicle and the actuation of manoeuvre signalling commands by the driver, the detecting means being adapted to emit a signal (s d) indicative of the running condition of the vehicle and a signal (s turn1, s turn2) indicative of the signalling of a manoeuvre, respectively, whereby the processing means are adapted to adopt one of a plurality of predetermined operating modes (LCA, RPA, LRPA, LLPA) relating to the assessment of the manoeuvring area on the basis of the signals (s d, s turn1, s turn2) indicative of the running conditions and manoeuvre signalling, and are arranged to calculate an assessed manoeuvring area in accordance with a collection of obstacle position data (O1-O3) and to compare the assessed manoeuvring area with a predetermined nominal minimum manoeuvring area, characterized in that said plurality of rear sensor devices include a plurality of orientable radar sensor devices (12a-12c) which are horizontally oriented so as to configure the respective horizontal field of view (Fa-Fc) in an integrated manner relative to the position of the vehicle, on the basis of the signals indicative of the running condition of the vehicle and of the driver's manoeuvre signalling commands.