Driving Assistance System and Driving Assistance Method for a Vehicle

A driving assistance system for a vehicle includes a first control unit and a second control unit, the second control unit configured to receive instructions from the first control unit to carry out an action, and at least one first sensor unit assigned to the first control unit. The second control unit is configured to carry out the action and to transmit information relating to the carrying out of the action to the first control unit. The first control unit is configured to check the plausibility of the information received from the second control unit on the basis of sensor data of the at least one first sensor unit.