Method for determining at least one motor torque specification (M_EM1, M_EM2, M_VM, M_EM3) for each of several drive motors (EM1, EM2, EM3, VM) in a motor vehicle having two axles and two wheels per axle, comprising the steps of: - determining a total torque specification (MDR_GES) depending on an accelerator pedal signal characteristic of the position of the accelerator pedal or on a signal (M_FAS) of a system influencing the longitudinal movement of the vehicle; - determining for each axle a respective axle torque specification (M_VA, M_HA) based on the respective axle, wherein the total torque specification (MDR_GES) is distributed to the two axles depending on at least one torque distribution indication; - determining for each wheel of at least a first axle, preferably both axles, a respective wheel torque specification (M_VL, M_VR, M_HL, M_HR) based on the respective wheel depending on the determined axle torque specification (M_VA, M_HA) of the respective axle; and - determining a motor torque specification (M_EM1, M_EM2, M_VM, M_EM3) for the respective drive motor (EM1, EM2, VM, EM3) depending on the determined wheel torque specification (M_VL, M_VR, M_HL, M_HR) for each wheel of the first axle and depending on either the determined wheel torque specification (M_VL, M_VR, M_HL, M_HR) for each wheel of the second axle if the respective wheel-based wheel torque specifications (M_VL, M_VR, M_HL, M_HR) are determined for both axles or the axle torque specification (M_VA, M_HA) based on the second axle if the respective wheel-based wheel torque specifications (M_VL, M_VR, M_HL, M_HR) are determined only for the first axle; characterized in that - for each wheel of at least the first axle, preferably both axles, the respective wheel torque specification (M_VL, M_VR, M_HL, M_HR) based on the respective wheel is upwardly and downwardly limited depending on information from one or more vehicle movement dynamics control systems (Md_max, rad; Md_min,rad), and - the axle torque specification based on the second axle is upwardly and downwardly limited depending on the information from the one or more vehicle movement dynamics control systems (Md_max,rad; Md_min,rad) if the respective wheel-based wheel torque specifications (M_VL, M_VR, M_HL, M_HR) are determined only for the first axle. - determining a total torque specification (MDR_GES) depending on an accelerator pedal signal characteristic of the position of the accelerator pedal or on a signal (M_FAS) of a system influencing the longitudinal movement of the vehicle; - determining for each axle a respective axle torque specification (M_VA, M_HA) based on the respective axle, wherein the total torque specification (MDR_GES) is distributed to the two axles depending on at least one torque distribution indication; - determining for each wheel of at least a first axle, preferably both axles, a respective wheel torque specification (M_VL, M_VR, M_HL, M_HR) based on the respective wheel depending on the determined axle torque specification (M_VA, M_HA) of the respective axle; and - determining a motor torque specification (M_EM1, M_EM2, M_VM, M_EM3) for the respective drive motor (EM1, EM2, VM, EM3) depending on the determined wheel torque specification (M_VL, M_VR, M_HL, M_HR) for each wheel of the first axle and depending on either the determined wheel torque specification (M_VL, M_VR, M_HL, M_HR) for each wheel of the second axle if the respective wheel-based wheel torque specifications (M_VL, M_VR, M_HL, M_HR) are determined for both axles or the axle torque specification (M_VA, M_HA) based on the second axle if the respective wheel-based wheel torque specifications (M_VL, M_VR, M_HL, M_HR) are determined only for the first axle; characterized in that - for each wheel of at least the first axle, preferably both axles, the respective wheel torque specification (M_VL, M_VR, M_HL, M_HR) based on the respective wheel is upwardly and downwardly limited depending on information from one or more vehicle movement dynamics control systems (Md_max, rad; Md_min,rad), and - the axle torque specification based on the second axle is upwardly and downwardly limited depending on the information from the one or more vehicle movement dynamics control systems (Md_max,rad; Md_min,rad) if the respective wheel-based wheel torque specifications (M_VL, M_VR, M_HL, M_HR) are determined only for the first axle.