A driving assistance system for a motor vehicle , the driving assistance system being configured to perform automated longitudinal control of the motor vehicle by outputting a target acceleration (a6) to the motor vehicle , the driving assistance system being characterized by : a first acceleration controller configured to, based on a predetermined first target distance (s1) of the motor vehicle to a predetermined first single-track motor vehicle traveling in a same lane as the motor vehicle and directly in front of the motor vehicle , and based on a first actual distance (i1) to the first single-track vehicle , determine a first target acceleration (a1) of the motor vehicle , and a second acceleration controller configured to: based on a predetermined second target distance (s1) between the motor vehicle and a predetermined second single-track motor vehicle traveling in the same lane as the motor vehicle and at the height of the predetermined first single-track motor vehicle , and based on a second actual distance (i2) to the second single-track motor vehicle , a second target acceleration (a2) of the motor vehicle , and based on a predetermined third target distance (s2) between the motor vehicle and a predetermined third object traveling in a different lane than the motor vehicle , and/or changing from the different lane to the same lane as the motor vehicle , determine a third target acceleration (a3) of the motor vehicle , and a first target acceleration determination unit configured to determine the target acceleration (a6) to be output to the motor vehicle based on the first, the second and the third target acceleration (a1, a2, a3). a first acceleration controller configured to, based on a predetermined first target distance (s1) of the motor vehicle to a predetermined first single-track motor vehicle traveling in a same lane as the motor vehicle and directly in front of the motor vehicle , and based on a first actual distance (i1) to the first single-track vehicle , determine a first target acceleration (a1) of the motor vehicle , and a second acceleration controller configured to: based on a predetermined second target distance (s1) between the motor vehicle and a predetermined second single-track motor vehicle traveling in the same lane as the motor vehicle and at the height of the predetermined first single-track motor vehicle , and based on a second actual distance (i2) to the second single-track motor vehicle , a second target acceleration (a2) of the motor vehicle , and based on a predetermined third target distance (s2) between the motor vehicle and a predetermined third object traveling in a different lane than the motor vehicle , and/or changing from the different lane to the same lane as the motor vehicle , determine a third target acceleration (a3) of the motor vehicle , and based on a predetermined second target distance (s1) between the motor vehicle and a predetermined second single-track motor vehicle traveling in the same lane as the motor vehicle and at the height of the predetermined first single-track motor vehicle , and based on a second actual distance (i2) to the second single-track motor vehicle , a second target acceleration (a2) of the motor vehicle , and based on a predetermined third target distance (s2) between the motor vehicle and a predetermined third object traveling in a different lane than the motor vehicle , and/or changing from the different lane to the same lane as the motor vehicle , determine a third target acceleration (a3) of the motor vehicle , and a first target acceleration determination unit configured to determine the target acceleration (a6) to be output to the motor vehicle based on the first, the second and the third target acceleration (a1, a2, a3). <EOS>