Method and device to assist in the driving of a vehicle, in particular of an aircraft, for the avoidance of obstacles

A method and device for assisting in driving a vehicle in motion along an initial trajectory, in an environment containing at least one obstacle, assistance is carried out by checking, by a trajectory checking unit, during movement of the vehicle, the existence of at least one condition for modifying the initial trajectory to avoid the obstacle. A criteria determining unit is used to determine a criterion CR by which to avoid the obstacle, and an avoidance trajectory determining unit is used to determine an avoidance trajectory according to a derivative of the criterion CR. The vehicle is assisted along the determined avoidance trajectory by a driving assist device.