A method in a vehicle , for avoiding a potential collision between the vehicle and a Vulnerable Road User, VRU , wherein the method comprises: predicting a future path (t1, t2, t3) of the vehicle , by: measuring velocity of the vehicle ; measuring steering wheel angle (α sw ); measuring steering wheel angle rate (α' sw ); calculating a future steering wheel angle (α sw ), based on the measured steering wheel angle (α sw ) and the measured steering wheel angle rate (α' sw ); calculating a future yaw rate (ω) of the vehicle based on the measured velocity of the vehicle and the calculated future steering wheel angle (α sw ); extrapolating a vehicle position of the vehicle in a set of future time frames, based on the calculated future yaw rate (ω) and the vehicle velocity; and predicting the path of the vehicle based on the extrapolated vehicle positions in the set of future time frames; detecting the VRU and the position of the VRU ; determining velocity of the detected VRU ; predicting a future position of the detected VRU , based on the VRU position upon detection and the determined VRU velocity; determining geographical position of the vehicle ; extracting statistical information related to a probability of a collision at the determined geographical position; and wherein the probability of a collision is increased at geographical positions where a number of traffic accidents is exceeding a threshold limit; and performing an action for avoiding a collision, when the predicted future position of the VRU is overlapping the predicted future path (t1, t2, t3) of the vehicle , or based on the probability of a collision. predicting a future path (t1, t2, t3) of the vehicle , by: measuring velocity of the vehicle ; measuring steering wheel angle (α sw ); measuring steering wheel angle rate (α' sw ); calculating a future steering wheel angle (α sw ), based on the measured steering wheel angle (α sw ) and the measured steering wheel angle rate (α' sw ); calculating a future yaw rate (ω) of the vehicle based on the measured velocity of the vehicle and the calculated future steering wheel angle (α sw ); extrapolating a vehicle position of the vehicle in a set of future time frames, based on the calculated future yaw rate (ω) and the vehicle velocity; and predicting the path of the vehicle based on the extrapolated vehicle positions in the set of future time frames; measuring velocity of the vehicle ; measuring steering wheel angle (α sw ); measuring steering wheel angle rate (α' sw ); calculating a future steering wheel angle (α sw ), based on the measured steering wheel angle (α sw ) and the measured steering wheel angle rate (α' sw ); calculating a future yaw rate (ω) of the vehicle based on the measured velocity of the vehicle and the calculated future steering wheel angle (α sw ); extrapolating a vehicle position of the vehicle in a set of future time frames, based on the calculated future yaw rate (ω) and the vehicle velocity; and predicting the path of the vehicle based on the extrapolated vehicle positions in the set of future time frames; detecting the VRU and the position of the VRU ; determining velocity of the detected VRU ; predicting a future position of the detected VRU , based on the VRU position upon detection and the determined VRU velocity; determining geographical position of the vehicle ; extracting statistical information related to a probability of a collision at the determined geographical position; and wherein the probability of a collision is increased at geographical positions where a number of traffic accidents is exceeding a threshold limit; and performing an action for avoiding a collision, when the predicted future position of the VRU is overlapping the predicted future path (t1, t2, t3) of the vehicle , or based on the probability of a collision. <EOS>