A method in a vehicle, for avoiding a potential collision between the vehicle and a Vulnerable Road User, VRU, wherein the method comprises: predicting a future path (t1, t2, t3) of the vehicle, by: measuring velocity of the vehicle; measuring steering wheel angle (α sw); measuring steering wheel angle rate (α' sw); calculating a future steering wheel angle (α sw), based on the measured steering wheel angle (α sw) and the measured steering wheel angle rate (α' sw); calculating a future yaw rate (ω) of the vehicle based on the measured velocity of the vehicle and the calculated future steering wheel angle (α sw); extrapolating a vehicle position of the vehicle in a set of future time frames, based on the calculated future yaw rate (ω) and the vehicle velocity; and predicting the path of the vehicle based on the extrapolated vehicle positions in the set of future time frames; detecting the VRU and the position of the VRU; determining velocity of the detected VRU; predicting a future position of the detected VRU, based on the VRU position upon detection and the determined VRU velocity; determining geographical position of the vehicle; extracting statistical information related to a probability of a collision at the determined geographical position; and wherein the probability of a collision is increased at geographical positions where a number of traffic accidents is exceeding a threshold limit; and performing an action for avoiding a collision, when the predicted future position of the VRU is overlapping the predicted future path (t1, t2, t3) of the vehicle, or based on the probability of a collision. predicting a future path (t1, t2, t3) of the vehicle, by: measuring velocity of the vehicle; measuring steering wheel angle (α sw); measuring steering wheel angle rate (α' sw); calculating a future steering wheel angle (α sw), based on the measured steering wheel angle (α sw) and the measured steering wheel angle rate (α' sw); calculating a future yaw rate (ω) of the vehicle based on the measured velocity of the vehicle and the calculated future steering wheel angle (α sw); extrapolating a vehicle position of the vehicle in a set of future time frames, based on the calculated future yaw rate (ω) and the vehicle velocity; and predicting the path of the vehicle based on the extrapolated vehicle positions in the set of future time frames; measuring velocity of the vehicle; measuring steering wheel angle (α sw); measuring steering wheel angle rate (α' sw); calculating a future steering wheel angle (α sw), based on the measured steering wheel angle (α sw) and the measured steering wheel angle rate (α' sw); calculating a future yaw rate (ω) of the vehicle based on the measured velocity of the vehicle and the calculated future steering wheel angle (α sw); extrapolating a vehicle position of the vehicle in a set of future time frames, based on the calculated future yaw rate (ω) and the vehicle velocity; and predicting the path of the vehicle based on the extrapolated vehicle positions in the set of future time frames; detecting the VRU and the position of the VRU; determining velocity of the detected VRU; predicting a future position of the detected VRU, based on the VRU position upon detection and the determined VRU velocity; determining geographical position of the vehicle; extracting statistical information related to a probability of a collision at the determined geographical position; and wherein the probability of a collision is increased at geographical positions where a number of traffic accidents is exceeding a threshold limit; and performing an action for avoiding a collision, when the predicted future position of the VRU is overlapping the predicted future path (t1, t2, t3) of the vehicle, or based on the probability of a collision.