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 detecting whether a curve of the road is ahead of the vehicle in the longitudinal direction.