A method for use in a driver assistance system of an ego-vehicle, the method supports driving of the ego-vehicle and comprises the steps of: sensing at least one other traffic participant involved in a traffic situation in the environment of the ego-vehicle; predicting at last one hypothetical future trajectory for the ego-vehicle, and a future behavior for the at least one other traffic participant; calculating, for the ego-vehicle, a behavior relevant score based on the at least one calculated hypothetical future trajectory of the ego-vehicle and the predicted future behavior of the least one other traffic participant, wherein the behavior relevant score is calculated as risk and indicates, for the hypothetical future trajectory of the ego-vehicle, collision probability, collision severity, product of collision probability and collision severity, Time-of-Closest-Encounter, Time-To-Closest-Encounter, Position-of-Closest-Encounter or Distance-of-Closest-Encounter; determining a behavior of the ego-vehicle based on the calculated behavior relevant score and outputting a signal for controlling the ego-vehicle to perform the determined behavior; and/or outputting an information signal based on the calculated behavior relevant score, characterized by determining a priority relationship between the ego-vehicle and the at least one other other traffic participant; and selecting a prediction model for said future behavior of the at least one other traffic participant based on the determined priority relationship; wherein the selected prediction model defines a speed profile of the at least one other traffic participant over the prediction interval; in said predicting step, the future behavior for the at least one other traffic participant is predicted based on the selected prediction model; and when, in the determining step, it is determined that the at least one hypothetical future trajectory of the ego-vehicle and the trajectory of the predicted behavior of the at least one other traffic participant intersect or merge, a prediction model defining a delayed change of velocity for the at least one other traffic participant within the prediction interval is selected in the selecting step, when, in the determining step, it is determined that the ego-vehicle has right of way over the at least one other traffic participant, a delayed decrease of velocity as said delayed change of velocity is selected in the selecting step; and when, in the determining step, it is determined that the at least one other traffic participant has right of way over the ego-vehicle, a delayed increase of velocity as said delayed change of velocity is selected in the selecting step, wherein in said prediction model defining the delayed change of velocity, the velocity changes up to a predetermined value or for a predetermined period and is then constant for the rest of the prediction interval. sensing at least one other traffic participant involved in a traffic situation in the environment of the ego-vehicle; predicting at last one hypothetical future trajectory for the ego-vehicle, and a future behavior for the at least one other traffic participant; calculating, for the ego-vehicle, a behavior relevant score based on the at least one calculated hypothetical future trajectory of the ego-vehicle and the predicted future behavior of the least one other traffic participant, wherein the behavior relevant score is calculated as risk and indicates, for the hypothetical future trajectory of the ego-vehicle, collision probability, collision severity, product of collision probability and collision severity, Time-of-Closest-Encounter, Time-To-Closest-Encounter, Position-of-Closest-Encounter or Distance-of-Closest-Encounter; determining a behavior of the ego-vehicle based on the calculated behavior relevant score and outputting a signal for controlling the ego-vehicle to perform the determined behavior; and/or outputting an information signal based on the calculated behavior relevant score, characterized by determining a priority relationship between the ego-vehicle and the at least one other other traffic participant; and selecting a prediction model for said future behavior of the at least one other traffic participant based on the determined priority relationship; wherein the selected prediction model defines a speed profile of the at least one other traffic participant over the prediction interval; in said predicting step, the future behavior for the at least one other traffic participant is predicted based on the selected prediction model; and when, in the determining step, it is determined that the at least one hypothetical future trajectory of the ego-vehicle and the trajectory of the predicted behavior of the at least one other traffic participant intersect or merge, a prediction model defining a delayed change of velocity for the at least one other traffic participant within the prediction interval is selected in the selecting step, when, in the determining step, it is determined that the ego-vehicle has right of way over the at least one other traffic participant, a delayed decrease of velocity as said delayed change of velocity is selected in the selecting step; and when, in the determining step, it is determined that the at least one other traffic participant has right of way over the ego-vehicle, a delayed increase of velocity as said delayed change of velocity is selected in the selecting step, wherein in said prediction model defining the delayed change of velocity, the velocity changes up to a predetermined value or for a predetermined period and is then constant for the rest of the prediction interval.