The invention regards to a method for assisting a driver in driving a vehicle, comprising the steps of producing sensor data by at least one sensor physically sensing the environment of a host vehicle and/or obtaining data conveying information about the environment of a host vehicle, generating a plurality of representation segments each segment being a portion of an entire area of representation of the environment of the host vehicle at a particular point in time wherein a relative position of the portion of such representation segment with respect to a current position of the host vehicle corresponds to a possible position of the host vehicle at that particular point in time, combining the representation segments to a spatio-temporal representation of the environment of the host vehicle; evaluating the spatio-temporal representation and outputting an assistance signal on the basis of an evaluation result.