METHOD, PROGRAM, STORAGE MEDIUM AND ASSISTANCE SYSTEM FOR ASSISTING EGO-AGENT AND VEHICLE

The disclosure relates to a computer-implemented method for assisting an ego-agent, the method comprising: estimating a visibility area of another agent being present in an environment of the ego-agent; computing a visibility state of the other agent with regard to the ego-agent using the estimated visibility area of the other agent; estimating a collision risk between the ego-agent and the other agent using the computed visibility state of the other agent; planning a behavior of the ego-agent by minimizing a total cost for the behavior, wherein the total cost comprise the estimated collision risk; and performing at least one of: informing the ego-agent on the estimated collision risk and/or the planned behavior of the ego-agent; outputting, dependent on the estimated collision risk, a warning that the other agent is not aware of the ego-agent; and controlling the ego-agent using the estimated collision risk and/or the planned behavior of the ego-agent.