A parking camera system, the system including: a plurality of cameras equipped with a vehicle; an image synthesizer for synthesizing images photographed by the plurality of cameras (101, 102, 103, 104); a memory storing a parking guide line of the vehicle and a parking area image and outputting to the image synthesizer the parking guide line or the parking area image; and an estimated travel trajectory generating and overlaying processor for generating an estimated travel trajectory of the vehicle by receiving steering angle information of the vehicle, and synthesizing the estimated travel trajectory of the vehicle with the images synthesized by the image synthesizer, wherein the image synthesizer synthesizes at least one or more of the parking guide line and the parking area image with the images photographed by the plurality of cameras (101, 102, 103, 104), characterized in that the system further including an input unit allowing a driver to select and input a parking mode and the parking mode includes a parallel parking and a right angle parking, whereby the system is configured to display an estimated travel trajectory (12, 13) on a screen of the display unit in a case the driver manipulates the steering wheel to parking areas (30, 50) selected from the respective parking modes, wherein the memory is stored with a parking mode image, a parking direction image and a warning phrase image, wherein the screen is displayed with a first direction image progressed by the vehicle right before the current point, and the parking direction image of the estimated travel trajectory by the steering angle information in response to a manipulation of the steering wheel by the driver, and an image of the vehicle is so displayed that it will progress from the first direction image to the parking direction image. a plurality of cameras equipped with a vehicle; an image synthesizer for synthesizing images photographed by the plurality of cameras (101, 102, 103, 104); a memory storing a parking guide line of the vehicle and a parking area image and outputting to the image synthesizer the parking guide line or the parking area image; and an estimated travel trajectory generating and overlaying processor for generating an estimated travel trajectory of the vehicle by receiving steering angle information of the vehicle, and synthesizing the estimated travel trajectory of the vehicle with the images synthesized by the image synthesizer, wherein the image synthesizer synthesizes at least one or more of the parking guide line and the parking area image with the images photographed by the plurality of cameras (101, 102, 103, 104), characterized in that the system further including an input unit allowing a driver to select and input a parking mode and the parking mode includes a parallel parking and a right angle parking, whereby the system is configured to display an estimated travel trajectory (12, 13) on a screen of the display unit in a case the driver manipulates the steering wheel to parking areas (30, 50) selected from the respective parking modes, wherein the memory is stored with a parking mode image, a parking direction image and a warning phrase image, wherein the screen is displayed with a first direction image progressed by the vehicle right before the current point, and the parking direction image of the estimated travel trajectory by the steering angle information in response to a manipulation of the steering wheel by the driver, and an image of the vehicle is so displayed that it will progress from the first direction image to the parking direction image.