The invention provides a driver assistance method, comprising the steps of: sensing a vehicle's state and the environment, on the basis of sensing output signals, determining whether a critical state of the vehicle is to be expected in the future, if yes, determining a total amount and a time duration of an activation of at least one vehicle actuator required in order to avoid occurrence of the critical state, the activation being of a nature which can be sensed by the driver of the vehicle, and partially performing, by a control module, the activation, i.e. for a portion of the amount and/or a portion of the time duration of the determined total amount and time duration.