Method for assisting a driver in driving a vehicle, comprising the steps of: - producing sensor data by at least one sensor physically sensing the environment of a host vehicle and/or obtaining data conveying information about the environment of a host vehicle, - generating (3, 4), based on the sensor data and/or the information about the environment of the host vehicle, for each of different points in time (T0..T3), including present and future, a representation segment each segment being a portion of a grid of an entire area of representation of the environment of the host vehicle at a particular point in time (T0..T3), wherein a relative position of the portion of such representation segment with respect to a current position of the host vehicle corresponds to a possible position of the host vehicle at that particular point in time (T0..T3) and the grid consists of units forming surface of the environment, the representation segments being generated by prediction of semantic labels of a plurality of units of the representation segment for the particular point in time or by cutting out the representation segment from an entire area representation with predicted semantic labels of a plurality of units, - combining the generated representation segments to form a single spatio-temporal representation of the environment of the host vehicle that consists of a plurality of segments representing a relevant portion of the environment at their respective relevant time; - performing an evaluation process on behavior of the host vehicle and/or other traffic participants based on the spatio-temporal representation and - outputting an assistance signal on the basis of an evaluation result. - producing sensor data by at least one sensor physically sensing the environment of a host vehicle and/or obtaining data conveying information about the environment of a host vehicle, - generating (3, 4), based on the sensor data and/or the information about the environment of the host vehicle, for each of different points in time (T0..T3), including present and future, a representation segment each segment being a portion of a grid of an entire area of representation of the environment of the host vehicle at a particular point in time (T0..T3), wherein a relative position of the portion of such representation segment with respect to a current position of the host vehicle corresponds to a possible position of the host vehicle at that particular point in time (T0..T3) and the grid consists of units forming surface of the environment, the representation segments being generated by prediction of semantic labels of a plurality of units of the representation segment for the particular point in time or by cutting out the representation segment from an entire area representation with predicted semantic labels of a plurality of units, - combining the generated representation segments to form a single spatio-temporal representation of the environment of the host vehicle that consists of a plurality of segments representing a relevant portion of the environment at their respective relevant time; - performing an evaluation process on behavior of the host vehicle and/or other traffic participants based on the spatio-temporal representation and - outputting an assistance signal on the basis of an evaluation result.