Abstract: A vehicle driving aid method includes and defining an occupation grid corresponding to discretization into N cells of a field of kinematic parameters of a detected object; acquiring at each time k an observation zk produced by a sensor and determining a sensor probability modeling the behavior thereof; calculating for each cell X, a predicted occupation probability providing the probability that the cell X is, at time k, in occupied state having knowledge of a density of estimated of occupation of the grid a the preceding time; calculating for each cell X, an estimated probability of occupation providing the sensor probability and predicted occupation probability; the latter at time k determined by supposing that a single cell of the grid constitutes, at time k?1, the antecedent of the cell X concerned; evaluating, for each cell X, a collision probability, based on the estimated probability at time k and emitting a signal to avoid the object.