Abstract: A method is described for ascertaining the set-point braking moment for the various wheels of a vehicle, in which to this end, signals dependent on the wheel speeds V.sub.Ri and the vehicle speed V.sub.F are used. The signals from which the set-point braking moments are ascertained are obtained by sending the signals corresponding to the wheel speeds and the vehicle speed through an especially embodied Kalman filter.

Abstract: The invention is directed to a method for the formation of an air-fuel mixture for an internal combustion engine, including an oxygen sensor exposed to the exhaust gas and responsive to the oxygen content of the exhaust gas, a signal-processing unit processing the output signals of the oxygen sensor, and a memory store for storing a set of characteristic curves dependent on at least one operating parameter of the internal combustion engine, the characteristic values thereof (F.sub..lambda.) determining the amount of fuel to be metered. In this method, a time-variable perturbation (.DELTA.F.sub..+-.) is superposed on the characteristic values (F.sub..lambda.), the oxygen sensor output signals (U.sub..lambda.) are evaluated with regard to their change due to the perturbation (.DELTA.F.sub..+-.), and the characteristic values (F.sub..lambda.) are suitably corrected to achieve an optimum air-fuel ratio. In this arrangement, the modulation frequency of the characteristic values (F.sub..lambda.