Method for assisting a driver in driving an ego vehicle and corresponding driver assistance system

Method and driver assistant system for assisting a driver in driving an ego vehicle. An environment of the ego vehicle is physically sensed and sensor data is produced. A representation of the environment is generated, wherein the representation consists of a plurality of representation segments each of which corresponds to a limited area of the environment. The sensor data is analyzed for generating characteristic information for at least a part of the limited areas of the environment and the characteristic information is assigned to the representation segment which corresponds to the respective area of the environment. Furthermore, a future and/or past movement behavior for a traffic object is estimated and characteristic information for at least one limited area of the environment is inferred on the basis of the estimated movement behavior. This characteristic information is assigned to the representation segment corresponding to the respective area of the environment and based on the resulting representation an evaluation is performed for determining a preferred path for the ego vehicle. Finally, an assistance signal based on the determined path is generated and output.