Method for carrying out one or more collision-avoiding measures in a vehicle (52, 80), in particular a motor vehicle, comprising the following steps: - detecting positions of static and dynamic objects (54, 82, 90), and - determining one or more trajectories which avoid collisions of the vehicle (52, 80) with the detected objects (54, 82, 90), - determining a danger value for the determined trajectory or respectively for each of the determined trajectories, wherein the danger value is determined continuously or periodically and is a measure of one or more forces which would act on the vehicle (52, 80) when the respective trajectory is passed through, wherein, in order to determine the danger value of a trajectory on the basis of the current speed and acceleration of the vehicle (52, 80), the maximum lateral acceleration of the vehicle (52, 80) is determined when the respective trajectory is passed through, this lateral acceleration is evaluated with a probability value, wherein the probability value constitutes a measure of whether the driver would carry out a manoeuvre with a lateral acceleration which is comparable with the determined lateral acceleration, wherein the evaluated lateral acceleration then corresponds to the danger value, - carrying out the collision-avoiding measures in the event of the determined danger value of a determined trajectory being above a selected or predefined threshold value and - in the event of a plurality of trajectories being determined, the danger value of that trajectory with the lowest determined maximum lateral acceleration is selected and the collision-avoiding measures are carried out if the selected danger value is above the selected or predefined threshold value. - detecting positions of static and dynamic objects (54, 82, 90), and - determining one or more trajectories which avoid collisions of the vehicle (52, 80) with the detected objects (54, 82, 90), - determining a danger value for the determined trajectory or respectively for each of the determined trajectories, wherein the danger value is determined continuously or periodically and is a measure of one or more forces which would act on the vehicle (52, 80) when the respective trajectory is passed through, wherein, in order to determine the danger value of a trajectory on the basis of the current speed and acceleration of the vehicle (52, 80), the maximum lateral acceleration of the vehicle (52, 80) is determined when the respective trajectory is passed through, this lateral acceleration is evaluated with a probability value, wherein the probability value constitutes a measure of whether the driver would carry out a manoeuvre with a lateral acceleration which is comparable with the determined lateral acceleration, wherein the evaluated lateral acceleration then corresponds to the danger value, - carrying out the collision-avoiding measures in the event of the determined danger value of a determined trajectory being above a selected or predefined threshold value and - in the event of a plurality of trajectories being determined, the danger value of that trajectory with the lowest determined maximum lateral acceleration is selected and the collision-avoiding measures are carried out if the selected danger value is above the selected or predefined threshold value.