A method for preparing and/or performing a steering intervention. The method includes detecting a traffic-influencing object and continuously recording object information, determining whether the object is tangential to a current trajectory of the vehicle, monitoring a lateral distance to the object or a predicted time available until a countersteering intervention is necessary before the object is reached. The method additionally includes checking whether the driver performs a countersteering intervention, for the case that the lateral distance or the available time falls below a first threshold value, of pilot controlling at least one actuator that influences the trajectory, so that a steering pretorque is applied if no steering intervention is performed by the driver, and triggering the steering actuator, so that a steering torque is applied to the steering, if the lateral distance or the available time additionally falls below a second threshold value.