Abstract: In one aspect, the present disclosure provides a method in a data processing system comprising at least one processor and at least one memory, the at least one memory comprising instructions executed by the at least one processor to implement a vehicle overtaking monitoring system. The method comprises receiving, from a first plurality of sensors coupled to an ego vehicle, lead vehicle data about a lead vehicle, inferring an estimated intention of the lead vehicle based on the lead vehicle data, selecting an intention model from a plurality of intention models based on the estimated intention, calculating a set of permissible driving inputs of the ego vehicle based on the intention model, calculating at least one driver input range based on the set of permissible driving inputs, and causing the at least one driver input range to be displayed to a driver of the ego vehicle.