The invention relates to a method (100) for avoiding or mitigating a collision of a vehicle (300) with an obstacle (302) in a lane (402) of the vehicle (300) if the obstacle (302) at least partially blocks a planned driving path of the vehicle (300). Said method (100) comprises a detection step (102) and an adaptation step (104). In the detection step (102), a position and/or trajectory of the obstacle (302) is detected. In the adaptation step (104), the driving path (316) is adapted using the position and/or trajectory in order to avoid or mitigate the collision.