A vehicle comprising an overtaking vehicle detection system, said overtaking vehicle detection system comprising a camera and a processing system, wherein said camera has a given focal length f and is mounted on a lateral side of said vehicle at a given height ( h), and wherein said processing system is configured for: - receiving a sequence of images from said camera; - processing said sequence of images in order to generate optical flow data comprising a list of motion vectors being associated with respective features in said sequence of images; - analyzing said optical flow data in order to group said motion vectors based on their orientation, thereby determining: a) a first set of optical flow data (OF ZO) comprising the motion vectors (MV ZO) relating to features (50a/50b) departing from the host vehicle, and b) a second set of optical flow data (OF ZI) comprising the motion vectors (MV ZI) relating to features approaching the host vehicle; - periodically or continuously computing a vanishing point as a function of the motion vectors (MV ZO) in said first set of optical flow data (OF ZO); - determining a center position of said images; - periodically or continuously computing (3046, 3048) pan ψ and tilt φ information with the following equations: φ = tan − 1 VP y f ψ = tan − 1 VP x ⋅ cos φ f where VP y and VP x correspond to the distance of said vanishing point with respect to said center position in vertical and horizontal direction, respectively; - determining one or more clusters indicative of objects approaching the vehicle by grouping the motion vectors (MV ZI) in said second set of optical flow data (OF ZI) as a function of their position and their length and/or orientation, thereby identifying overtaking vehicles; - determining the distances d of said one or more clusters with the following equation: d = f ⋅ h P y where P y corresponds to the distance of the lower border of the respective cluster from the center coordinate C in the vertical (y) direction; - computing a corrected distance d cor with the following equations: d ψ = d cos ψ d cor = d ψ cos φ; and - determining a warning signal (WARN) as a function of said distances. - receiving a sequence of images from said camera; - processing said sequence of images in order to generate optical flow data comprising a list of motion vectors being associated with respective features in said sequence of images; - analyzing said optical flow data in order to group said motion vectors based on their orientation, thereby determining: a) a first set of optical flow data (OF ZO) comprising the motion vectors (MV ZO) relating to features (50a/50b) departing from the host vehicle, and b) a second set of optical flow data (OF ZI) comprising the motion vectors (MV ZI) relating to features approaching the host vehicle; a) a first set of optical flow data (OF ZO) comprising the motion vectors (MV ZO) relating to features (50a/50b) departing from the host vehicle, and b) a second set of optical flow data (OF ZI) comprising the motion vectors (MV ZI) relating to features approaching the host vehicle; - periodically or continuously computing a vanishing point as a function of the motion vectors (MV ZO) in said first set of optical flow data (OF ZO); - determining a center position of said images; - periodically or continuously computing (3046, 3048) pan ψ and tilt φ information with the following equations: φ = tan − 1 VP y f ψ = tan − 1 VP x ⋅ cos φ f where VP y and VP x correspond to the distance of said vanishing point with respect to said center position in vertical and horizontal direction, respectively; - determining one or more clusters indicative of objects approaching the vehicle by grouping the motion vectors (MV ZI) in said second set of optical flow data (OF ZI) as a function of their position and their length and/or orientation, thereby identifying overtaking vehicles; - determining the distances d of said one or more clusters with the following equation: d = f ⋅ h P y where P y corresponds to the distance of the lower border of the respective cluster from the center coordinate C in the vertical (y) direction; - computing a corrected distance d cor with the following equations: d ψ = d cos ψ d cor = d ψ cos φ; and - determining a warning signal (WARN) as a function of said distances.