A method for the performance-enhancing driver assistance of a road vehicle. The method comprises the steps of defining a dynamic model of the road vehicle, determining the actual position and orientation of the road vehicle, detecting a plurality of environmental data, detecting a plurality of dynamic data, determining a passing through point of the road vehicle arranged in front of the road vehicle, solving an optimum control problem aimed at optimizing a cost function), taking into account, as boundary conditions, the plurality of environmental data, the actual position and the passing through point, so as to compute a mission optimizing the cost function from the actual position of the vehicle to the passing through point of the vehicle.