A vehicle (2) comprises sensor units (10) for collecting sensor data, and a processing unit (11) for processing the sensor data. A method of providing driving assistance information comprises the steps of: determining the cost (c) of pairs (30, 31, 32) of acceleration values on the basis of the sensor data, each pair of acceleration values representing a longitudinal (a lon) and a lateral (a lat) acceleration of the vehicle, —selecting a pair (32) of least cost acceleration values, and—providing driving assistance information including the pair of least cost acceleration values. The processing unit (10) may be arranged for providing visible, audible and/or haptic driving assistance information to the driver of the vehicle, and/or for providing steering assistance.