Device and method of displaying driving auxiliary information

Disclosed herein is a device of displaying driving auxiliary information capable of providing information on an obstacle positioned on an expected path on which a vehicle will move as well as the expected path according to a steering angle. The device includes: a camera photographing a real image; a first storing unit in which a guide line image for a driving trajectory of a vehicle is divided for each steering angle and stored; a steering sensor detecting a steering angle of the vehicle; a plurality of distance sensors measuring distances to an object positioned at an outer portion of the vehicle and spaced apart from each other; and a controlling unit connected to the first storing unit, the steering sensor, and the distance sensors.