A method of assisting driving a vehicle, the method comprising: • a construction step for constructing a digital model defining a quality index for a 3D inference image resulting from applying a 3D inference method to an original image as a function of a plurality of similarity metrics defined between the original image and the 3D inference image, said construction step using a set of observations (OBS, 10) obtained for a plurality of reference 3D inference images resulting from applying at least one 3D inference method to a plurality of reference original images, said observations comprising measured values for 3D information represented on the reference 3D inference images; • an acquisition step for acquiring a first image of a three-dimensional scene in the vicinity of the vehicle; • a generation step for using the first image to generate a 3D inference second image (INF3D-IM) by applying a 3D inference method to the first image; • an estimation step for estimating said plurality of similarity metrics between said first image and said 3D inference second image; • an evaluation step for evaluating the quality index of the 3D inference second image by using the digital model and said plurality of estimated similarity metrics; and • as a function of the quality index as estimated, a utilization step for using the 3D inference second image to assist driving the vehicle; wherein the step of constructing the digital model comprises: • an evaluation step (E12, E13) for evaluating, for each of the observations: o the quality index defined by the digital model by using the pixel values of the reference 3D inference images and the measured values of the 3D information represented by those pixels; and o the plurality of similarity metrics by using the pixel values of the reference 3D inference images and the pixel values of the corresponding reference original images; and • a determination step for determining the digital model by applying a regression technique to the quality indices and the similarity metrics evaluated during the evaluation step. • a construction step for constructing a digital model defining a quality index for a 3D inference image resulting from applying a 3D inference method to an original image as a function of a plurality of similarity metrics defined between the original image and the 3D inference image, said construction step using a set of observations (OBS, 10) obtained for a plurality of reference 3D inference images resulting from applying at least one 3D inference method to a plurality of reference original images, said observations comprising measured values for 3D information represented on the reference 3D inference images; • an acquisition step for acquiring a first image of a three-dimensional scene in the vicinity of the vehicle; • a generation step for using the first image to generate a 3D inference second image (INF3D-IM) by applying a 3D inference method to the first image; • an estimation step for estimating said plurality of similarity metrics between said first image and said 3D inference second image; • an evaluation step for evaluating the quality index of the 3D inference second image by using the digital model and said plurality of estimated similarity metrics; and • as a function of the quality index as estimated, a utilization step for using the 3D inference second image to assist driving the vehicle; • an evaluation step (E12, E13) for evaluating, for each of the observations: o the quality index defined by the digital model by using the pixel values of the reference 3D inference images and the measured values of the 3D information represented by those pixels; and o the plurality of similarity metrics by using the pixel values of the reference 3D inference images and the pixel values of the corresponding reference original images; and o the quality index defined by the digital model by using the pixel values of the reference 3D inference images and the measured values of the 3D information represented by those pixels; and o the plurality of similarity metrics by using the pixel values of the reference 3D inference images and the pixel values of the corresponding reference original images; and • a determination step for determining the digital model by applying a regression technique to the quality indices and the similarity metrics evaluated during the evaluation step.