Driver assistance system and a method

A driver assistance system for a vehicle provided with a crane for loading or unloading objects, the system comprises:

• a control unit configured to generate a presentation signal to be applied to a display unit,
• an object detecting device configured to capture images of the vehicle and/or of the environment around the vehicle, and configured to generate an image data signal comprising data representing captured images, and to apply said signal to said said control unit, and that the control unit is configured to:
• determine a three dimensional, 3D, representation of at least one object, being a part of the vehicle and/or being at least one object in the environment around the vehicle, based upon images captured by said object detecting device,
• determine a 3D representation of the environment around the vehicle, and
• determine a predetermined alert condition measure related to said determined 3D representations, wherein if said alert condition measure fulfils at least one of a set of predetermined alert criteria, the control unit is configured to initiate at least one responsive activity of a set of predetermined responsive activities, and
• wherein said set of responsive activities comprises that the control unit is configured to determine a dynamic augmented reality, AR, image, including highlighted portions, of at least a part of said determined 3D representations, wherein the control unit is configured to determine, generate and include presentation instructions in said presentation signal, and wherein said presentation instructions comprises to present said AR image on said display unit such that said at least a part of said 3D representations in the AR image overlays, corresponds and adapts to the object(s) and environment visible at the display unit.