Patent ID: 8204669

Claim:
A method for regulating driving dynamics of a motor vehicle with an electronic control unit functionally connected to a torque transmitter applying torque to at least one vehicle wheel, the method comprising the following steps: determining, in the electronic control unit, a value of an optimized wheel torque as a function of a first and second value of a yawing moment, wherein the first value of the yawing moment is determined as a value of the yawing moment that creates a setpoint value of a yaw rate on the basis of a vehicle reference model, and the second value of the yawing moment is determined as a function of a system deviation between the setpoint value of the yaw rate and a detected actual value of the yaw rate and as a function of the system deviation between a setpoint value and an actual value of an additional driving state variable other than the yaw rate; and applying, by means of the torque transmitter, the optimized wheel torque to at least one wheel of the vehicle, wherein the additional driving state variable is the slip angle of the at least one wheel.