1. A vehicle environment monitoring system comprising: a camera mounted on top of said vehicle; a conical reflector in operative relation to said camera, said camera and said reflector providing a 360° field of view image around said vehicle; and a controller adapted to detect objects within said image, determine a reference angle between said vehicle and a detected object, and generate a distance value between said vehicle and said detected object as a function of a lane width value (w) and said reference angle (q).