Method for carrying out one or more collision-avoiding measures in a vehicle , in particular a motor vehicle, comprising the following steps: - detecting positions of static and dynamic objects , and - determining one or more trajectories which avoid collisions of the vehicle with the detected objects , - determining a danger value for the determined trajectory or respectively for each of the determined trajectories , wherein the danger value is determined continuously or periodically and is a measure of one or more forces which would act on the vehicle when the respective trajectory is passed through, wherein, in order to determine the danger value of a trajectory on the basis of the current speed and acceleration of the vehicle , the maximum lateral acceleration of the vehicle is determined when the respective trajectory is passed through, this lateral acceleration is evaluated with a probability value , wherein the probability value constitutes a measure of whether the driver would carry out a manoeuvre with a lateral acceleration which is comparable with the determined lateral acceleration, wherein the evaluated lateral acceleration then corresponds to the danger value , - carrying out the collision-avoiding measures in the event of the determined danger value of a determined trajectory being above a selected or predefined threshold value and - in the event of a plurality of trajectories being determined, the danger value of that trajectory with the lowest determined maximum lateral acceleration is selected and the collision-avoiding measures are carried out if the selected danger value is above the selected or predefined threshold value . - detecting positions of static and dynamic objects , and - determining one or more trajectories which avoid collisions of the vehicle with the detected objects , - determining a danger value for the determined trajectory or respectively for each of the determined trajectories , wherein the danger value is determined continuously or periodically and is a measure of one or more forces which would act on the vehicle when the respective trajectory is passed through, wherein, in order to determine the danger value of a trajectory on the basis of the current speed and acceleration of the vehicle , the maximum lateral acceleration of the vehicle is determined when the respective trajectory is passed through, this lateral acceleration is evaluated with a probability value , wherein the probability value constitutes a measure of whether the driver would carry out a manoeuvre with a lateral acceleration which is comparable with the determined lateral acceleration, wherein the evaluated lateral acceleration then corresponds to the danger value , - carrying out the collision-avoiding measures in the event of the determined danger value of a determined trajectory being above a selected or predefined threshold value and - in the event of a plurality of trajectories being determined, the danger value of that trajectory with the lowest determined maximum lateral acceleration is selected and the collision-avoiding measures are carried out if the selected danger value is above the selected or predefined threshold value . <EOS>