The present invention relates to a method for determining a vehicle operator's expectation of a state of an object in the operator's environment, the method comprising: acquiring an input signal indicative of the operator's expectation of the state of the object at a first point in time; determining a state of the object at a second point in time based on an input signal indicative of the object's state, the second point in time being later than the first point in time; acquiring an input signal indicative of an estimated visual input of the operator at the second point in time; determining the operator's expectation of the state of the object at the second point in time, based on the operator's expectation of the state of the object at the first point in time, the estimated visual input of the operator of the vehicle at the second point in time and the state of the object at the second point in time; providing an output signal indicative of the operator's expectation of the state of the object at the second point in time. The present invention also relates to a system comprising means for performing the method, and a computer-readable program comprising code for executing the method.