An advanced driver assistance system designed to receive and process motor-vehicle position-related data and motor-vehicle motion-related data of a host motor vehicle and of neighbour motor vehicles detected in the vicinity of the host motor vehicle and which have been determined as entering the same roundabout in which the host motor vehicle will enter, to provide assistance to the driver of the host motor vehicle for negotiating the roundabout. A degree of proximity of the host motor vehicle and the neighbour motor vehicle to the roundabout based on motor-vehicle position-related data is determined and a determined alert level is provided the driver.