Method and vehicle with an advanced driver assistance system for risk-based traffic scene analysis

The invention relates to a method for the support of driving an ego-vehicle and such ego-vehicle including a driver assistance system configured to carry out the method steps. At least one traffic participant and/or infrastructure element involved in the traffic situation is selected which is to be taken into consideration for the traffic scene analysis. A hypothetical future trajectory for the ego-vehicle is predicted gained by predicting the current state of the ego-vehicle and is varied to generate a plurality of ego-trajectory alternatives including the calculated hypothetical future ego-trajectory. At least one hypothetical future trajectory from another traffic participant gained by predicting the current state of the traffic participant and/or calculating of a hypothetical future state sequence of the infrastructure element is determined. On the basis of at least one pair of the ego-trajectory plus one other trajectory a plurality of a risk functions over future time or along the calculated hypothetical future ego-trajectory alternatives is calculated, wherein one risk function corresponds to one ego-trajectory alternative. The plurality of risk functions is combined into a risk map which is then analyzed. From the analysis result a control signal for assisting the driving of the ego-vehicle is generated.