1. A method for determining safe vehicle trajectories for a vehicle equipped with sensors for monitoring a surrounding environment, taking into account sensing limitations, the method comprising: detecting observable obstacles using one or more of the sensors; detecting, using a processor, unobservable areas; adding, using the processor, virtual obstacles in unobservable areas; associating, using the processor, each observable obstacle and each virtual obstacle with one or more hypothetical events and assigning an occurrence probability to each combination of obstacle and one or more events; and determining, using the processor, safe vehicle trajectories based on both observable obstacles and virtual obstacles and the occurrence probability of each combination of obstacle and one or more events.