A driver assistance system for avoiding collisions includes an environmental sensor(4) for detecting the traffic environment of the vehicle(2) and a processing unit(5) configured to assess the traffic environment(1) as to the likelihood of a danger and plan a route(15,15') avoiding or at least minimizing the danger for the vehicle. The processing unit(5) is further configured to predict a possible control intervention of the driver in reaction to the danger and select a route(15) which is compatible with that control intervention.