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 an 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 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 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 object and the determined current state of motion of the object; calculating, by the computing device of the driver assistance system and based on the calculated sojourn probability distribution of the 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 object; and operating, by the driver assistance system, the steering device to steer the vehicle along the calculated trajectory of the vehicle.