The present disclosure relates to a method and a system for evaluating inter-vehicle traffic gaps and time instances to perform a lane change manoeuvre. The method comprises a) determining a set of trajectories which respectively constitutes an approximation of the feasible motion of the ego vehicle, b) evaluating the set of trajectories on the available inter-vehicle traffic gaps and time instances to perform the lane change manoeuvre over a prediction horizon, to select a subset of feasible inter-vehicle traffic gaps and time instances to perform the lane change manoeuvre and to establish a corresponding set of lane change trajectories, c) evaluating the set of lane change trajectories on the set of feasible inter-vehicle traffic gaps and time instances from a safety critical perspective, and d) selecting a preferred lane change trajectory, with corresponding inter-vehicle traffic gap and time instance, to perform the lane change manoeuvre. The disclosure further relates to an automated lane change system, an advanced driver assistance system and a vehicle comprising such a system.