Method for use in an advanced driver assistance system in a vehicle, the method supports driving of an ego-vehicle and comprises the steps of: selecting at least one traffic participant and/or infrastructure element involved in a traffic situation, calculating of a hypothetical future trajectory from the ego-vehicle and varying this hypothetical future ego-trajectory to generate a plurality of ego-trajectory alternatives including the calculated hypothetical future ego-trajectory, calculating of at least one hypothetical future trajectory from said at least one traffic participant if said at least one traffic participant is selected in said selecting step and calculating of a hypothetical future state sequence of the infrastructure element if said infrastructure element is selected in said selecting step, generating a critical event risk map based on the calculated hypothetical future ego-trajectory alternatives and the at least one hypothetical future trajectory if said at least one traffic participant is selected in said selecting step, or generating a critical event risk map based on the calculated hypothetical future ego-trajectory alternatives and the calculated hypothetical future state sequence if said infrastructure element is selected in said selecting step, or generating a critical event risk map based on the calculated hypothetical future ego-trajectory alternatives and the calculated hypothetical future state sequence if said at least one traffic participant and said infrastructure element are selected in said selecting step, and analyzing the critical event risk map and generating a control signal for assisting the driving of the ego-vehicle, characterized in that in said generating step, said critical event risk map is generated by combining a plurality of critical event risk functions, wherein one critical event risk function corresponds to one ego-trajectory alternative, and each critical event risk function is calculated by estimating, over future time, a critical event risk for each of different points in time or by estimating, along the respective calculated hypothetical future ego-trajectory alternative, a critical event risk for each of different positions, wherein in said analyzing step, subpaths which are parts of a path through the critical event risk map from a starting zone of the critical event risk map to a target zone of the ego-vehicle are calculated, a favorable path through the critical event risk map is estimated by a comparison, selection and/or combination of subpaths according to path-dependent risk and efficiency criteria, where the critical event risk of a path is calculated from the critical event risk map values along the path and the favorable path is used as a control target for behavior. selecting at least one traffic participant and/or infrastructure element involved in a traffic situation, calculating of a hypothetical future trajectory from the ego-vehicle and varying this hypothetical future ego-trajectory to generate a plurality of ego-trajectory alternatives including the calculated hypothetical future ego-trajectory, calculating of at least one hypothetical future trajectory from said at least one traffic participant if said at least one traffic participant is selected in said selecting step and calculating of a hypothetical future state sequence of the infrastructure element if said infrastructure element is selected in said selecting step, generating a critical event risk map based on the calculated hypothetical future ego-trajectory alternatives and the at least one hypothetical future trajectory if said at least one traffic participant is selected in said selecting step, or generating a critical event risk map based on the calculated hypothetical future ego-trajectory alternatives and the calculated hypothetical future state sequence if said infrastructure element is selected in said selecting step, or generating a critical event risk map based on the calculated hypothetical future ego-trajectory alternatives and the calculated hypothetical future state sequence if said at least one traffic participant and said infrastructure element are selected in said selecting step, and analyzing the critical event risk map and generating a control signal for assisting the driving of the ego-vehicle, characterized in that in said generating step, said critical event risk map is generated by combining a plurality of critical event risk functions, wherein one critical event risk function corresponds to one ego-trajectory alternative, and each critical event risk function is calculated by estimating, over future time, a critical event risk for each of different points in time or by estimating, along the respective calculated hypothetical future ego-trajectory alternative, a critical event risk for each of different positions, wherein in said analyzing step, subpaths which are parts of a path through the critical event risk map from a starting zone of the critical event risk map to a target zone of the ego-vehicle are calculated, a favorable path through the critical event risk map is estimated by a comparison, selection and/or combination of subpaths according to path-dependent risk and efficiency criteria, where the critical event risk of a path is calculated from the critical event risk map values along the path and the favorable path is used as a control target for behavior.