Method and apparatus for performing driving assistance

The present invention relates to methods and apparatuses for performing driving assistance for a vehicle, involving determining a lateral acceleration G Y of the vehicle and determining a lateral jerk G Y of the vehicle, and controlling a longitudinal acceleration Gx of the vehicle on the basis of the determined lateral acceleration G Y and lateral jerk G Y , wherein controlling the longitudinal acceleration Gx of the vehicle is further based on suspension characteristics of the vehicle, in particular on an activated suspension mode of the vehicle.