DRIVING ASSISTANCE METHOD AND SYSTEM

The present invention concerns a driving assistance method and system (100) for a road vehicle (1). The driving assistance system (100) comprises a sensor set (101), a data storage device (102) and an an output device (104,105). The sensor set (101) detects, within a traffic scene including the road vehicle (1), a set of road users and, for each road user of said set of road users, a current state including a current speed and a current position. The data storage device (102) comprises a finite plurality of behavioral models. The data processor (103), which is connected to the sensor set (101) and to the data storage device (102), assigns a behavioral model, from among the finite plurality of behavioral models, to each road user, probabilistically estimates, for each road user, a belief state comprising a set of alternative subsequent states and corresponding probabilities, each alternative subsequent state including a speed and a position, according to the behavioral model assigned to each road user, and determines a risk of collision of the road vehicle (1) with a road user, based on the probabilistically estimated future state of each road user. The output device (104,105) is connected to the data processor (103) and outputs a driver warning signal and/or executing an avoidance action if the risk of collision exceeds a predetermined threshold