Method for assisting a person in assessing a dynamic environment, comprising the steps of: - obtaining information on actual states of at least two entities in a common environment, - predicting a first future state for each of the entities based on the obtained information, - estimating at least one of a time to event for a first event involving the at least two entities, a position of occurrence of the first event relative to the person or to a predetermined entity associated with the person, a direction to a current location of an entity involved in the first event, and a probability of occurrence of the first event based on the predicted first future states, and - additionally predicting a second future state for the person and/or the predetermined entity (S4, S3), - estimating at least one of a time to event for a second event involving the at least two entities, a position of occurrence of the second event relative to the person or to the predetermined entity, a direction to a current location of an entity involved in the second event, and a probability of occurrence of the second event (S5'), and - generating a signal for driving at least one actuator, wherein the signal is indicative of an information, which encodes at least one of the position of the first event, the time to event for the first event, the probability of occurrence of the first event, and a further information, which encodes at least one of the position of the second event, the time to event for the second event, the direction to the current location of the entity involved in the second event and the probability of occurrence of the second event, the signal causing a stimulation by the at least one actuator emitting stimuli being perceivable by the person by its perceptual capabilities, and the method comprises altering at least one parameter that describes an actual state of the respective entity for generating a hypothetical state of at least one of the entities, wherein predicting the second future state is based on the generated hypothetical state of the at least one of the entities, and the step of estimating at least one of a time to event for the second event involving the at least two entities, a position of occurrence of the second event relative to the person or to the predetermined entity, a direction to a current location of an entity involved in the second event, and a probability of occurrence of the second event, is performed based on the predicted second future state that is generated based on the hypothetical state of the at least one of the entities (S5'), characterized in that saliency of the stimuli corresponding to the second event are scaled such that its maximum saliency is equal to or below the saliency of the stimuli corresponding to the first event. - obtaining information on actual states of at least two entities in a common environment, - predicting a first future state for each of the entities based on the obtained information, - estimating at least one of a time to event for a first event involving the at least two entities, a position of occurrence of the first event relative to the person or to a predetermined entity associated with the person, a direction to a current location of an entity involved in the first event, and a probability of occurrence of the first event based on the predicted first future states, and - additionally predicting a second future state for the person and/or the predetermined entity (S4, S3), - estimating at least one of a time to event for a second event involving the at least two entities, a position of occurrence of the second event relative to the person or to the predetermined entity, a direction to a current location of an entity involved in the second event, and a probability of occurrence of the second event (S5'), and - generating a signal for driving at least one actuator, wherein the signal is indicative of an information, which encodes at least one of the position of the first event, the time to event for the first event, the probability of occurrence of the first event, and a further information, which encodes at least one of the position of the second event, the time to event for the second event, the direction to the current location of the entity involved in the second event and the probability of occurrence of the second event, the signal causing a stimulation by the at least one actuator emitting stimuli being perceivable by the person by its perceptual capabilities, and the method comprises altering at least one parameter that describes an actual state of the respective entity for generating a hypothetical state of at least one of the entities, wherein predicting the second future state is based on the generated hypothetical state of the at least one of the entities, and the step of estimating at least one of a time to event for the second event involving the at least two entities, a position of occurrence of the second event relative to the person or to the predetermined entity, a direction to a current location of an entity involved in the second event, and a probability of occurrence of the second event, is performed based on the predicted second future state that is generated based on the hypothetical state of the at least one of the entities (S5'), characterized in that saliency of the stimuli corresponding to the second event are scaled such that its maximum saliency is equal to or below the saliency of the stimuli corresponding to the first event.