With the advance of ITS (Intelligent Transport Systems), various types of equipment such as cameras are expected to be installed as new road infrastructure. We have proposed the HIR (Human-oriented Information Restructuring) System, which utilizes information obtained from those infrastructures, such as cameras, VICS, GPS, etc. This system shows images that assist drivers and are easy to understand. This paper presents the HIR algorithm, consideration of data error and required accuracy towards realization of HIR. Furthermore, we have constructed a system that acquires in-vehicle camera position and direction. Based on our previous study, we evaluate the effectiveness of the new system architecture by conducting an experiment in the situation of turning right at an intersection. As a result, we can generate assisting images and display them on a in-car monitor.