In order to meet the needs of closed cabin and windowless driving of military vehicles such as tanks and armored vehicles, a new assisted driving system was developed. The scene around the vehicle was obtained through a multi-path optical sensors and the 360° panoramic view video of the vehicle body was obtained through the panoramic splicing algorithm. The panoramic video was displayed on the on-board display screen to assist the driver to watch the vehicle when driving in a narrow roads, an obstacles and the other special sections, or when reversing. When the vehicle driving in a standard road, the video can also provide a scene video around the vehicle according to the driver's head torsion angle, and transmit it to the driver's display helmet for the driver to use. In case of a special circumstances, the on-board display will give an alarm to driver. The driver's head position determination method used the infrared LED light source image positioning technology and the MEMS inertial device positioning technology. The vehicle modeling in the laboratory can verify the panoramic view video generation technology and the helmet free-viewpoint-observation technology. In addition, the driving experiments were carried out with a real vehicle. The experimental results show that this system can meet the requirements of vehicles with closed cabin and windowless driving with a standard road conditions, a speed of 40 km/h. It can assist in driving with a special situations such as narrow roads, obstacle detour and reversing.