Method for controlling deceleration of a vehicle with an ABS brake system, having at least the following steps: detecting a vehicle setpoint deceleration (z Soll) which is prescribed by the driver, defining a maximum deceleration (z max) and a minimum deceleration (z min), each as a function of the detected vehicle setpoint deceleration (z Soll), detecting a vehicle actual deceleration (z Ist) and controlling a brake pressure (p HA, p VA) at wheel brakes (5, 6, 7, 8) of a first and of a second vehicle axle (HA, VA) as a function of the detected vehicle actual deceleration (z Ist) by actuating ABS brake valves (11, 12, 13, 14, 21, 22, 23, 24) in such a way that - the brake pressure (p HA, p VA) at the wheel brakes (5, 6, 7, 8) of the first and second vehicle axles (HA, VA) is increased if the vehicle actual deceleration (z Ist) is smaller than the minimum deceleration (z min) in order to bring about a minimum braking effect (St6.1), and - the brake pressure (p HA, p VA) at the wheel brakes (5, 6, 7, 8) of the first and second vehicle axles (HA, VA) is limited if the vehicle actual deceleration (z Ist) is greater than the maximum deceleration (z max) in order to limit the braking effect of the first and second vehicle axles (HA, VA) (St6.5, St6.6, St6.7), and - the brake pressure (p HA, p VA) at the wheel brakes (5, 6, 7, 8) of the second vehicle axle (HA, VA) is additionally controlled as a function of a detected actual difference slip (DS Ist) if the vehicle actual deceleration (z Ist) is smaller than the maximum deceleration (z max) and greater than the minimum deceleration (z min), wherein the actual difference slip (DS Ist) specifies the difference in the rotational behaviour of the first vehicle axle (HA, VA) with respect to the second vehicle axle (VA, HA) (St6.2). detecting a vehicle setpoint deceleration (z Soll) which is prescribed by the driver, defining a maximum deceleration (z max) and a minimum deceleration (z min), each as a function of the detected vehicle setpoint deceleration (z Soll), detecting a vehicle actual deceleration (z Ist) and controlling a brake pressure (p HA, p VA) at wheel brakes (5, 6, 7, 8) of a first and of a second vehicle axle (HA, VA) as a function of the detected vehicle actual deceleration (z Ist) by actuating ABS brake valves (11, 12, 13, 14, 21, 22, 23, 24) in such a way that - the brake pressure (p HA, p VA) at the wheel brakes (5, 6, 7, 8) of the first and second vehicle axles (HA, VA) is increased if the vehicle actual deceleration (z Ist) is smaller than the minimum deceleration (z min) in order to bring about a minimum braking effect (St6.1), and - the brake pressure (p HA, p VA) at the wheel brakes (5, 6, 7, 8) of the first and second vehicle axles (HA, VA) is limited if the vehicle actual deceleration (z Ist) is greater than the maximum deceleration (z max) in order to limit the braking effect of the first and second vehicle axles (HA, VA) (St6.5, St6.6, St6.7), and - the brake pressure (p HA, p VA) at the wheel brakes (5, 6, 7, 8) of the second vehicle axle (HA, VA) is additionally controlled as a function of a detected actual difference slip (DS Ist) if the vehicle actual deceleration (z Ist) is smaller than the maximum deceleration (z max) and greater than the minimum deceleration (z min), wherein the actual difference slip (DS Ist) specifies the difference in the rotational behaviour of the first vehicle axle (HA, VA) with respect to the second vehicle axle (VA, HA) (St6.2). - the brake pressure (p HA, p VA) at the wheel brakes (5, 6, 7, 8) of the first and second vehicle axles (HA, VA) is increased if the vehicle actual deceleration (z Ist) is smaller than the minimum deceleration (z min) in order to bring about a minimum braking effect (St6.1), and - the brake pressure (p HA, p VA) at the wheel brakes (5, 6, 7, 8) of the first and second vehicle axles (HA, VA) is limited if the vehicle actual deceleration (z Ist) is greater than the maximum deceleration (z max) in order to limit the braking effect of the first and second vehicle axles (HA, VA) (St6.5, St6.6, St6.7), and - the brake pressure (p HA, p VA) at the wheel brakes (5, 6, 7, 8) of the second vehicle axle (HA, VA) is additionally controlled as a function of a detected actual difference slip (DS Ist) if the vehicle actual deceleration (z Ist) is smaller than the maximum deceleration (z max) and greater than the minimum deceleration (z min), wherein the actual difference slip (DS Ist) specifies the difference in the rotational behaviour of the first vehicle axle (HA, VA) with respect to the second vehicle axle (VA, HA) (St6.2).