Method for assisting the driving of a vehicle implemented by a system comprising an HMD, a reference element arranged inside the vehicle and a positioning module mounted on the vehicle, the method including the steps of: - detecting a vehicle position by means of the positioning module, said position being defined with respect to a global reference system; - based on the detect position of the vehicle, determining a position of the HMD with respect to the global reference system; - based on the position of the HMD, determining a view volume corresponding to a volume of space included in the field of view of the HMD; - comparing a set of positions included in the view volume with at least one position of interest (PW1-3) associated with an object of interest (WP1-3) stored in a memory area of the system, and - if one or more positions of interest (PW1 -3) are comprised in the view volume, calculating a visualization position (PA1-3) of the HMD in which to display an image (AR1-3) associated with the object of interest (WP1-3) and displaying on the HMD the image (AR1-3) in said visualization position (PA1-3), the visualization position (PA1-3) being such that a user wearing the HMD sees the image (PA1-3) in correspondence of the object of interest (WP1-3), wherein the step of determining a position of the HMD with respect to the global reference system based on the detected position of the vehicle comprises: - determining a compensation law defined by identifying a rototranslation relationship between the global reference system and a relative reference system associated with the reference element; - by means of the HMD, acquiring at least one image of the reference element located inside the vehicle; - determining a relative position of the HMD with respect to the reference element by processing the acquired image, said relative position being referred to the relative reference system associated with the reference element, and - converting the relative position of the HMD with respect to the reference element into a corresponding position referred to global reference system by applying the rototranslation relationship. - detecting a vehicle position by means of the positioning module, said position being defined with respect to a global reference system; - based on the detect position of the vehicle, determining a position of the HMD with respect to the global reference system; - based on the position of the HMD, determining a view volume corresponding to a volume of space included in the field of view of the HMD; - comparing a set of positions included in the view volume with at least one position of interest (PW1-3) associated with an object of interest (WP1-3) stored in a memory area of the system, and - if one or more positions of interest (PW1 -3) are comprised in the view volume, calculating a visualization position (PA1-3) of the HMD in which to display an image (AR1-3) associated with the object of interest (WP1-3) and displaying on the HMD the image (AR1-3) in said visualization position (PA1-3), the visualization position (PA1-3) being such that a user wearing the HMD sees the image (PA1-3) in correspondence of the object of interest (WP1-3), - determining a compensation law defined by identifying a rototranslation relationship between the global reference system and a relative reference system associated with the reference element; - by means of the HMD, acquiring at least one image of the reference element located inside the vehicle; - determining a relative position of the HMD with respect to the reference element by processing the acquired image, said relative position being referred to the relative reference system associated with the reference element, and - converting the relative position of the HMD with respect to the reference element into a corresponding position referred to global reference system by applying the rototranslation relationship.