A computer-implemented assistive torque calculation method for calculating an assistive torque (Tc) to be applied to a steering unit of a vehicle by a driver assistance system (ADAS) of the vehicle, in addition to a driver torque (DTk) applied to the steering unit by a driver of the vehicle, the method comprising steps of: S12) determining optimal values (Tc(k)) of the assistive torque over a time horizon (Np) by minimizing a cost function (J MPC), based on desired reference system states (xs r,k (j)) of the vehicle-driver system at future time point(s) (tk+1...tk+Np), using a Model Predictive Control solver; and S14) outputting the optimal value (Tc(k+1)) determined for the next time point (tk+1); wherein the steering torque (ST(k)) for orienting wheel(s) of the vehicle results at least from the driver torque (DT(k)) and the assistive torque (Tc(k)); the MPC solver determines the optimal values using a prediction unit comprising a driver torque prediction unit and a vehicle behaviour prediction unit; the assistive torque calculation method being characterized in that the driver torque prediction unit is configured to calculate a predicted driver torque (Tact) based at least on a perceived state (x perceived) of the vehicle related to a position of the vehicle, and on one or more reference vehicle state(s) (xv r (i+1)...) of the vehicle at one or more future time points (ti+1...); the vehicle behaviour prediction unit being configured, based on the predicted driver torque (Tact) and on a measured driver-steering-vehicle state (xdsv(i)...xdsv(k)) of the vehicle for a current time point (tk), to output an estimated driver-steering-vehicle state (xdsv(k+1)) of the driver-vehicle system at the next time point (tk+1); the driver torque prediction unit comprises a sensory unit, a cognition unit and a neuromuscular response unit; the sensory unit is configured to calculate the perceived state (x perceived) of the vehicle, the cognition unit is configured, based on the perceived state of the vehicle (x perceived), to calculate a value ( α) representative of an expected driver torque and a value (γ) representative of an expected muscle angle of the arms of the driver, for the current time point (tk); the neuromuscular response unit is configured, based on said value ( α) representative of the expected driver torque and said value (γ) representative of the expected muscle angle of the arms of the driver, and on the current value of the muscle angle (Θa) of the arms of the driver, to calculate the predicted driver torque (Tact(k+1)) at the next time point (tk+1). S12) determining optimal values (Tc(k)) of the assistive torque over a time horizon (Np) by minimizing a cost function (J MPC), based on desired reference system states (xs r,k (j)) of the vehicle-driver system at future time point(s) (tk+1...tk+Np), using a Model Predictive Control solver; and S14) outputting the optimal value (Tc(k+1)) determined for the next time point (tk+1); wherein the steering torque (ST(k)) for orienting wheel(s) of the vehicle results at least from the driver torque (DT(k)) and the assistive torque (Tc(k)); the MPC solver determines the optimal values using a prediction unit comprising a driver torque prediction unit and a vehicle behaviour prediction unit; the assistive torque calculation method being characterized in that the driver torque prediction unit is configured to calculate a predicted driver torque (Tact) based at least on a perceived state (x perceived) of the vehicle related to a position of the vehicle, and on one or more reference vehicle state(s) (xv r (i+1)...) of the vehicle at one or more future time points (ti+1...); the vehicle behaviour prediction unit being configured, based on the predicted driver torque (Tact) and on a measured driver-steering-vehicle state (xdsv(i)...xdsv(k)) of the vehicle for a current time point (tk), to output an estimated driver-steering-vehicle state (xdsv(k+1)) of the driver-vehicle system at the next time point (tk+1); the driver torque prediction unit comprises a sensory unit, a cognition unit and a neuromuscular response unit; the sensory unit is configured to calculate the perceived state (x perceived) of the vehicle, the cognition unit is configured, based on the perceived state of the vehicle (x perceived), to calculate a value ( α) representative of an expected driver torque and a value (γ) representative of an expected muscle angle of the arms of the driver, for the current time point (tk); the neuromuscular response unit is configured, based on said value ( α) representative of the expected driver torque and said value (γ) representative of the expected muscle angle of the arms of the driver, and on the current value of the muscle angle (Θa) of the arms of the driver, to calculate the predicted driver torque (Tact(k+1)) at the next time point (tk+1).