Method for performing driving assistance for a controlled vehicle moving in a longitudinal direction on a road, comprising: - determining a first longitudinal acceleration target value (G xt_PGVC) on the basis of a lateral acceleration (G Y; G Y_PV) of the controlled vehicle and adjusting the first longitudinal acceleration target value to determine a first adjusted longitudinal acceleration target value (G XT_PGVC_adjust) based on a first weighting factor (1-kW), - determining a second longitudinal acceleration target value (G XT_ACC) on the basis of a target speed of the controlled vehicle and adjusting the second longitudinal acceleration target value to determine a second adjusted longitudinal acceleration target value (G XT_ACC_adjust) based on a second weighting factor (kW), the first and second weighting factors (1 - kW, kW) being determined from one or more same weighting functions such that the sum of the first and second weighting factors (1 - kW, kW) amounts to 1, wherein the first weighting factor (1-kW) and the second weighting factor (kW) are determined from a weighting function depending on at least one of: - the difference (ΔV tgt) between the actual speed of the controlled vehicle and the target speed of the controlled vehicle, - the difference (ΔD) between the actual distance from the controlled vehicle to the proceeding vehicle and the target distance from the controlled vehicle to the proceeding vehicle, - the difference (ΔV vpv) between the speed of the controlled vehicle and the speed of the proceeding vehicle, and - the estimated lateral acceleration (G y_est) of the controlled vehicle at the preview point of the road ahead of the controlled vehicle, - determining a third longitudinal acceleration target value (G XT) based on a minimum value of the first adjusted longitudinal acceleration target value (G XT_PGVC_adjust) and the second adjusted longitudinal acceleration target value (G XT_ACC_adjust), and - controlling a longitudinal acceleration (Gx) of the controlled vehicle on the basis of the determined third longitudinal acceleration target value (G XT); wherein the first adjusted longitudinal acceleration target value (G XT_PGVC_adjust) is determined as the first longitudinal acceleration target value (G XT_PGVC) if the first longitudinal acceleration target value (G XT_PGVC) is smaller than zero, and, if the first longitudinal acceleration target value (G XT_PGVC) is equal to or larger than zero, by subtracting, from the first longitudinal acceleration target value (G XT_PGVC), the product of the first weighting factor (1 - kW) and the difference between the first longitudinal acceleration target value (G XT_PGVC) and the second longitudinal acceleration target value (G XT_ACC). - determining a first longitudinal acceleration target value (G xt_PGVC) on the basis of a lateral acceleration (G Y; G Y_PV) of the controlled vehicle and adjusting the first longitudinal acceleration target value to determine a first adjusted longitudinal acceleration target value (G XT_PGVC_adjust) based on a first weighting factor (1-kW), - determining a second longitudinal acceleration target value (G XT_ACC) on the basis of a target speed of the controlled vehicle and adjusting the second longitudinal acceleration target value to determine a second adjusted longitudinal acceleration target value (G XT_ACC_adjust) based on a second weighting factor (kW), the first and second weighting factors (1 - kW, kW) being determined from one or more same weighting functions such that the sum of the first and second weighting factors (1 - kW, kW) amounts to 1, wherein - the difference (ΔV tgt) between the actual speed of the controlled vehicle and the target speed of the controlled vehicle, - the difference (ΔD) between the actual distance from the controlled vehicle to the proceeding vehicle and the target distance from the controlled vehicle to the proceeding vehicle, - the difference (ΔV vpv) between the speed of the controlled vehicle and the speed of the proceeding vehicle, and - the estimated lateral acceleration (G y_est) of the controlled vehicle at the preview point of the road ahead of the controlled vehicle, - determining a third longitudinal acceleration target value (G XT) based on a minimum value of the first adjusted longitudinal acceleration target value (G XT_PGVC_adjust) and the second adjusted longitudinal acceleration target value (G XT_ACC_adjust), and - controlling a longitudinal acceleration (Gx) of the controlled vehicle on the basis of the determined third longitudinal acceleration target value (G XT);