Method for assisting a driver of an ego-vehicle in making use of a gap between vehicles to enter a traffic flow at an intersection, comprising the following method steps: - physically sensing (S1) other vehicles in the environment of the ego-vehicle using at least one environment sensor mounted on the ego-vehicle - calculating (S2) in a processor a gap size (g1, g2) of at least one gap between two successive vehicles based on the sensor's/sensors' output - observing an ego-vehicle driver's gazing behavior (S4) using at least one driver sensor mounted on the ego-vehicle - analyzing (S5) the ego-vehicle driver's gazing behavior, wherein analyzing (S5) the ego-vehicle driver's gazing behavior comprises determining (S7) a measure indicating a current driver's capability - generating an assistance signal (S11) based on the result of the analysis and the determined size of the at least one gap, and - outputting a recommendation and/or warning (S15) perceivable for the ego-vehicle's driver in accordance with the assistance signal, characterized in that information from a driver's current gazing behavior, a driver's past gazing behavior and a past driving behavior are combined to determine a correspondence to the current driver's capability, wherein the past driving behavior is determined based on an observation which gap sizes are used by the driver, and an estimation for a driver's capability is derived from an analysis of the gap sizes used by the driver and the corresponding driver's past gazing behavior to establish a model that gives the correspondence between the driver's current gazing behavior and a minimum gap size that can be safely used, wherein the driver's capability is assumed the higher the smaller the gap size is that is used to enter the traffic flow without endangering or impeding other traffic participants. - physically sensing (S1) other vehicles in the environment of the ego-vehicle using at least one environment sensor mounted on the ego-vehicle - calculating (S2) in a processor a gap size (g1, g2) of at least one gap between two successive vehicles based on the sensor's/sensors' output - observing an ego-vehicle driver's gazing behavior (S4) using at least one driver sensor mounted on the ego-vehicle - analyzing (S5) the ego-vehicle driver's gazing behavior, wherein analyzing (S5) the ego-vehicle driver's gazing behavior comprises determining (S7) a measure indicating a current driver's capability - generating an assistance signal (S11) based on the result of the analysis and the determined size of the at least one gap, and - outputting a recommendation and/or warning (S15) perceivable for the ego-vehicle's driver in accordance with the assistance signal, that information from a driver's current gazing behavior, a driver's past gazing behavior and a past driving behavior are combined to determine a correspondence to the current driver's capability, wherein the past driving behavior is determined based on an observation which gap sizes are used by the driver, and an estimation for a driver's capability is derived from an analysis of the gap sizes used by the driver and the corresponding driver's past gazing behavior to establish a model that gives the correspondence between the driver's current gazing behavior and a minimum gap size that can be safely used, wherein the driver's capability is assumed the higher the smaller the gap size is that is used to enter the traffic flow without endangering or impeding other traffic participants. <EOS>