The invention relates to a method for estimating a traffic situation in relation to a vehicle comprising retrieving and storing data representative of the vehicle's state and retrieving and storing data representative of the environment surrounding the vehicle at a first instant (t1), retrieving and storing data representative of the vehicle's state and retrieving and storing data representative of environment surrounding the vehicle during an estimation period ( t TS ) following said first instant (t1), and using the data retrieved during the estimation period ( t TS ) to estimate the traffic situation at the first instant (t1).