A bird's-eye view video generation device comprising: a video data acquiring unit configured to acquire video data of surroundings video of a vehicle captured by a video-capturing unit (11, 12, 13, 14); a bird's-eye view video generator configured to generate a bird's-eye view video that displays a predetermined display area around the vehicle by performing a viewpoint conversion processing and a synthesizing processing on the video data of the surroundings videos acquired by the video data acquiring unit with a vehicle icon representing the vehicle; a reference object detector configured to detect, in the video data of the surroundings videos acquired by the video data acquiring unit, at least one reference object (B, B1, B2) around the vehicle which is an object with a length equal or more than a predetermined length; an orientation specifying unit configured to specify a relative orientation of the at least one reference object (B, B1, B2) detected by the reference object detector with respect to the vehicle when the at least one reference object (B, B1, B2) is not contained in the predetermined display area; a superimposing processor configured to generate a superimposed bird's-eye view video by superimposing a reference orientation icon representing the relative orientation of the at least one reference object (B, B1, B2) with respect to the vehicle on the bird's-eye view video generated by the bird's-eye view video generator, in which an orientation of the vehicle icon is arranged with its longitudinal direction being parallel with a longitudinal direction of the bird's-eye view video and an orientation and a position of the vehicle icon are fixed, and an orientation of the reference orientation icon with respect to the fixed vehicle icon changes according to the relative orientation; and a display controller configured to cause a display to display the superimposed bird's-eye view video generated by the superimposing processor, wherein when a positional relationship between the at least one reference object (B, B1, B2) and the vehicle meets a predetermined condition, the bird's-eye view video generator is further configured to generate, instead of the superimposed bird's-eye view video, another superimposed bird's-eye view video, in which an orientation of the reference orientation icon is arranged in parallel with a lateral direction or a longitudinal direction of the bird's-eye view video and fixed, and an orientation of the vehicle icon with respect to the fixed reference orientation icon changes according to the relative orientation. a video data acquiring unit configured to acquire video data of surroundings video of a vehicle captured by a video-capturing unit (11, 12, 13, 14); a bird's-eye view video generator configured to generate a bird's-eye view video that displays a predetermined display area around the vehicle by performing a viewpoint conversion processing and a synthesizing processing on the video data of the surroundings videos acquired by the video data acquiring unit with a vehicle icon representing the vehicle; a reference object detector configured to detect, in the video data of the surroundings videos acquired by the video data acquiring unit, at least one reference object (B, B1, B2) around the vehicle which is an object with a length equal or more than a predetermined length; an orientation specifying unit configured to specify a relative orientation of the at least one reference object (B, B1, B2) detected by the reference object detector with respect to the vehicle when the at least one reference object (B, B1, B2) is not contained in the predetermined display area; a superimposing processor configured to generate a superimposed bird's-eye view video by superimposing a reference orientation icon representing the relative orientation of the at least one reference object (B, B1, B2) with respect to the vehicle on the bird's-eye view video generated by the bird's-eye view video generator, in which an orientation of the vehicle icon is arranged with its longitudinal direction being parallel with a longitudinal direction of the bird's-eye view video and an orientation and a position of the vehicle icon are fixed, and an orientation of the reference orientation icon with respect to the fixed vehicle icon changes according to the relative orientation; and a display controller configured to cause a display to display the superimposed bird's-eye view video generated by the superimposing processor, wherein when a positional relationship between the at least one reference object (B, B1, B2) and the vehicle meets a predetermined condition, the bird's-eye view video generator is further configured to generate, instead of the superimposed bird's-eye view video, another superimposed bird's-eye view video, in which an orientation of the reference orientation icon is arranged in parallel with a lateral direction or a longitudinal direction of the bird's-eye view video and fixed, and an orientation of the vehicle icon with respect to the fixed reference orientation icon changes according to the relative orientation.