Abstract: To control the yaw behavior of a vehicle, a setpoint for the yaw rate of the vehicle is determined from the steering angle specified by the driver and a vehicle speed that has been determined. An actual value of the yaw rate is also determined. A controlling deviation is then determined from the difference between the actual value and the setpoint of the yaw rate, and is then supplied to controllers operating independently of one another. In one controller, the steering controller, the setpoint is determined for the wheel steering angle of the steered wheels, while in the other controller, the braking controller, a setpoint is determined for the change in the braking pressure of the brake wheels. Taking this value into account, a specified braking pressure is then determined.