An image capturing system for vehicle includes an object-to-be-captured information storage unit (12a) for storing information about an object to be captured on a map, a camera (18) for capturing an image of the object to be captured, an object-to-be-captured position determining unit (27) for determining a distance from the current position to the object to be captured, and the direction of the object to be captured, a camera control unit (28) for controlling the camera to orient the camera toward the determined direction, and to focus the camera on the determined distance, a determining unit (30) for determining whether or not an image captured by the camera is a clearly-captured one, and an information storage unit (17) for, when the determining unit determines that the captured image is a clearly-captured one, storing the image therein.