Method for assisting an operator of an ego-vehicle in controlling the ego-vehicle by determining a future behavior and an associated trajectory for the ego-vehicle to be executed, comprising the following method steps: - determining a situation currently encountered by the ego-vehicle to obtain, for the current situation comprising the ego-vehicle and at least one other vehicle, a description of a state of a local traffic environment covering existence, position, lane and speed of the ego-vehicle and the at least one other vehicle, - determining different future behaviors of the ego-vehicle that could be performed for the current situation based on the description, wherein the future behaviors of the ego-vehicle are at least two of: lane change to the left, lane change to the right and lane following, - predicting future behaviors of the at least one other vehicle by computing probabilities of future behaviors of the at least one other vehicle based on the current situation, wherein the computation of the probabilities of the future behaviors of the at least one other vehicle is performed once with the assumption of each possible future behavior of the ego-vehicle, - computing probabilities of a plurality of future situations possibly evolving from the current situation based on combinations of the predicted future behaviors of the at least one other vehicle and the determined different future behaviors of the ego-vehicle, wherein each future situation corresponds to the state of the local traffic environment covering the existence, the position, the lane and the speed of the ego-vehicle and the at least one other vehicle, after each of the ego-vehicle and the at least one other vehicle performed its behaviour, - optimizing, for each future situation, with respect to driving parameters related to safety and comfort, a trajectory for the ego-vehicle to generate a plurality of optimized trajectories, - selecting a trajectory from the plurality of optimized trajectories based on the future situation probabilities and an evaluation of the plurality of optimized trajectories, and - generating a control signal to inform the driver about the selected trajectory and/or to control actuators of the ego-vehicle so that the ego-vehicle follows the selected trajectory. - determining a situation currently encountered by the ego-vehicle to obtain, for the current situation comprising the ego-vehicle and at least one other vehicle, a description of a state of a local traffic environment covering existence, position, lane and speed of the ego-vehicle and the at least one other vehicle, - determining different future behaviors of the ego-vehicle that could be performed for the current situation based on the description, wherein the future behaviors of the ego-vehicle are at least two of: lane change to the left, lane change to the right and lane following, - predicting future behaviors of the at least one other vehicle by computing probabilities of future behaviors of the at least one other vehicle based on the current situation, wherein the computation of the probabilities of the future behaviors of the at least one other vehicle is performed once with the assumption of each possible future behavior of the ego-vehicle, - computing probabilities of a plurality of future situations possibly evolving from the current situation based on combinations of the predicted future behaviors of the at least one other vehicle and the determined different future behaviors of the ego-vehicle, wherein each future situation corresponds to the state of the local traffic environment covering the existence, the position, the lane and the speed of the ego-vehicle and the at least one other vehicle, after each of the ego-vehicle and the at least one other vehicle performed its behaviour, - optimizing, for each future situation, with respect to driving parameters related to safety and comfort, a trajectory for the ego-vehicle to generate a plurality of optimized trajectories, - selecting a trajectory from the plurality of optimized trajectories based on the future situation probabilities and an evaluation of the plurality of optimized trajectories, and - generating a control signal to inform the driver about the selected trajectory and/or to control actuators of the ego-vehicle so that the ego-vehicle follows the selected trajectory.