Abstract: A method for determining a coefficient-of-friction, the method including braking a first wheel of a vehicle such that a slip between the first wheel and a roadway is less than a slip between a second wheel of the vehicle and the roadway, and determining a coefficient-of-friction between the first wheel and the roadway based on the behavior of the first wheel during the braking. The method optionally including hazard braking the vehicle.

Abstract: A method for determining a coefficient-of-friction, the method including braking a first wheel of a vehicle such that a slip between the first wheel and a roadway is less than a slip between a second wheel of the vehicle and the roadway, and determining a coefficient-of-friction between the first wheel and the roadway based on the behavior of the first wheel during the braking. The method optionally including hazard braking the vehicle.

Abstract: A method is provided for operating a motor vehicle that has steerable front wheels and steerable rear wheels, wherein a target reference point trajectory is determined for a reference point of the motor vehicle, depending on which the movement of the motor vehicle is controlled. The target reference point trajectories are converted to a target front axle trajectory for a front axle reference point and a target rear axle trajectory for a rear axle reference point. A first steering angle for the front wheels and a second steering angle for the rear wheels are determined on the basis of the target front axle trajectory and the target rear axle trajectory, such that the front axle reference point moves along the target front axle trajectory, and the rear axle reference point moves along the target rear axle trajectory.