A vehicle periphery monitoring device comprising: an in-vehicle camera module photographing a peripheral area of a vehicle; a first bird's-eye view image generation section generating a first bird's-eye view image through a first projective transformation using a two-dimensional plane parallel with the road surface as the projection plane based on a photographed image acquired by the in-vehicle camera module; a second bird's-eye view image generation section generating a second bird's-eye view through a second projective transformation using an inclined plane rising from the road surface or a bent plane or a three-dimensional curved plane as the projection plane based on the photographed image; and a displaying image generation section generating a first displaying image for monitor displaying from the first bird's-eye view image and a second displaying image for monitor displaying having a higher displaying magnification than the first displaying image, from a predetermined area of the second bird's-eye view image corresponding to a predetermined area of the first displaying image, wherein the second projective transformation by the second bird's-eye view image generation section is performed using mapping data selected in accordance with position, directional posture, shape or edge of the detected object, from mapping data registered in advance, wherein, based on parking assistance information including information relating to parking drive pathway, a parking area and a parked vehicle acquired from a parking assistance module effecting a parking control for setting the parking area and generating the parking drive pathway for guiding the vehicle to the parking area, a timing for displaying the second displaying image is determined and at this timing, the second displaying image is displayed on the monitor, wherein the first displaying image and the second displaying image are displayed on a same monitor screen, and wherein, when a 3D object is indicated in the first displaying image, the second displaying image including an area where the 3D object is present is displayed on the monitor based on 3D object detection information received from a 3D object detection section detecting the 3D object in the vehicle periphery. an in-vehicle camera module photographing a peripheral area of a vehicle; a first bird's-eye view image generation section generating a first bird's-eye view image through a first projective transformation using a two-dimensional plane parallel with the road surface as the projection plane based on a photographed image acquired by the in-vehicle camera module; a second bird's-eye view image generation section generating a second bird's-eye view through a second projective transformation using an inclined plane rising from the road surface or a bent plane or a three-dimensional curved plane as the projection plane based on the photographed image; and a displaying image generation section generating a first displaying image for monitor displaying from the first bird's-eye view image and a second displaying image for monitor displaying having a higher displaying magnification than the first displaying image, from a predetermined area of the second bird's-eye view image corresponding to a predetermined area of the first displaying image, wherein the second projective transformation by the second bird's-eye view image generation section is performed using mapping data selected in accordance with position, directional posture, shape or edge of the detected object, from mapping data registered in advance, wherein, based on parking assistance information including information relating to parking drive pathway, a parking area and a parked vehicle acquired from a parking assistance module effecting a parking control for setting the parking area and generating the parking drive pathway for guiding the vehicle to the parking area, a timing for displaying the second displaying image is determined and at this timing, the second displaying image is displayed on the monitor, wherein the first displaying image and the second displaying image are displayed on a same monitor screen, and wherein, when a 3D object is indicated in the first displaying image, the second displaying image including an area where the 3D object is present is displayed on the monitor based on 3D object detection information received from a 3D object detection section detecting the 3D object in the vehicle periphery.