Drivers require a safe and convenient driving environment when they are driving. Contemporary vehicle safety systems have rapidly improved and gained public attention. The proposed system receives real-time images from a rear-mounted fisheye camera and assists drivers in avoiding many dangerous conditions. Research indicates that driving accidents often occur when drivers are switching lanes. Therefore, to improve driving safety, this study developed a system for predicting vehicle trajectory. When accidents are likely and risks are present, the system alerts the driver. An AdaBoost algorithm was employed for vehicle detection, and a Kalman filter was selected as the main component of the proposed system; it is an effective means for predicting the trajectories of approaching vehicles in the blind spots to prevent collisions from behind during lane switching.