System, Method and Software for Operating a Driver Assistance System

Methods, systems, and apparatuses are provided for operating a driver assistance system of a vehicle. A first subsystem is configured to generate a first environment model and plan one or more first trajectories for the vehicle based on the first environment model. A second subsystem is configured to generate a second environment model and plan one or more second trajectories for the vehicle based on the second environment model. The first and second subsystems are each configured to perform a safety assessment both for the one or more first trajectories and for the one or more second trajectories based on a metric.