1. A method of a driver assistance system of a vehicle, the driver assistance system including a sensor arrangement, a computing device, and a steering device, the method comprising: determining, by the driver assistance system and using the sensor arrangement thereof, a current position of at least one object in an environment surrounding the vehicle; determining, by the driver assistance system and using the sensor arrangement thereof, a first current state of motion of the at least one object; determining, by the driver assistance system and using the sensor arrangement thereof, a second current state of motion of the vehicle; calculating, by the computing device of the driver assistance system, a sojourn probability distribution of the at least one object, the sojourn probability distribution being a function of time and of space and being based on an object motion model in connection with the determined current position of the at least one object and the determined current state of motion of the at least one object; calculating, by the computing device of the driver assistance system and based on the calculated sojourn probability distribution of the at least one object and on the second current state of motion of the vehicle, a trajectory of the vehicle with a minimum collision probability for the vehicle into the at least one object; and steering the vehicle, by the driver assistance system with the steering device, along the calculated trajectory of the vehicle.