A method for fuel efficiency optimization by predictive driving, the method comprises: determining a current state of a vehicle and current state of an environment of the vehicle; estimating a future state of the vehicle and a future state of the environment of the vehicle; wherein a future state of each one of the vehicle and the environment is a state at a future point of time following a current point of time; evaluating, whether the vehicle has to change one or more vehicle progress parameters between the current point of time and the future point of time; selecting a future driving behavior out of multiple future driving behaviors, that will implement the change of the one or more vehicle progress parameters, wherein the selecting is based on a fuel consumption associated with the change of the one or more future driving parameters; and generating at least one of a selected future driving behavior suggestion, a selected future driving behavior alert, and a selected future driving behavior command.