Method and system for assisting an operator of an ego-vehicle in controlling the ego-vehicle by determining a future behavior and an associated trajectory for the ego-vehicle

A method for assisting an operator of an ego-vehicle in controlling the ego-vehicle by determining a future behavior and an associated trajectory for the ego-vehicle to be executed, comprising:

• determining a situation currently encountered by the ego-vehicle, the current situation comprising the ego-vehicle and at least one other vehicle;
• computing probabilities of future behavior of the at least one other vehicle based on the current situation for predicting future behavior of the at least one other vehicle;
• determine potential future behaviors of the ego-vehicle;
• compute probabilities of a plurality of future situations possibly evolving from the current situation based on combinations of future behaviors of the at least one other vehicle and the potential future behaviors of the ego-vehicle;
• optimize at least one trajectory for the ego-vehicle for at least one of the possible future situations;
• select a trajectory based at least on one future situation probability;
• and
• generate a control signal to inform the driver about the selected trajectory or to control actuators of the ego-vehicle so that the ego-vehicle follows the selected trajectory.