The invention relates to a method of forming a very accurate vascular map or road map to be associated with the current X-ray image during an invasive vascular intervention. The vascular map is derived from a four-dimensional model of the vascular tree, that is, from a spatially three-dimensional, time-dependent model, the time dependency relating to natural motions of the body such as notably the heartbeat and/or the respiration. In particular the rhythm of the heartbeat or the respiration can be determined by means of a sensor so as to be used for synchronized selection and display of the corresponding three-dimensional vascular model.