1. Method for assisting a driver in driving an ego-vehicle, comprising the steps of: physically sensing an environment of the ego-vehicle and producing sensor data; generating a representation of the environment, the representation comprising a plurality of representation segments each of which corresponds to a limited area of the environment; analyzing the sensor data for generating characteristic information for at least a part of the limited areas of the environment; assigning the characteristic information to the representation segment corresponding the respective area of the environment; estimating a future or past movement behavior for a traffic object sensed by the physical sensing; inferring characteristics for at least one limited area of the environment on the basis of the estimated movement behavior; assigning at least part of this characteristic information to the representation segment corresponding the respective area of the environment; evaluating the resulting representation comprising the representation segments including all assigned characteristics for determining a preferred path for the ego-vehicle; and generating and outputting an assistance signal based on the determined path.