Abstract: A lane change by a motor vehicle is detected in a first variant, such that a lateral-acceleration variable representing the lateral acceleration of the vehicle and/or a yaw variable representing the yaw velocity is ascertained; the change, as a function of time, of the lateral-acceleration variable and/or of the yaw variable is formed; and a lane change is detected when the change as a function of time exceeds a specifiable threshold value. A second variant provides that speed variables are determined which represent the rotations of at least two wheels; a velocity variable is ascertained representing the longitudinal vehicle velocity; the difference is determined between the speed variable of the fastest rear wheel and the velocity variable; and a curve and/or a lane change is detected when a specifiably large difference exists for a time duration of specifiable length.

Abstract: A method and device for detecting cornering of a vehicle, or for ascertaining the transverse acceleration (ay) of a vehicle, where a signal indicating cornering of the vehicle, a measure of the curve radius, or the transverse acceleration (ay) of the vehicle is detected, using a reference speed (vS, vSL, vSR) for at least each side of the vehicle; and where a reference speed (vS, vSL, vSR) of one side of the vehicle is determined as a function of the deceleration of at least one wheel on this side of the vehicle.

Abstract: A lane change by a motor vehicle is detected in a first variant, such that a lateral-acceleration variable representing the lateral acceleration of the vehicle and/or a yaw variable representing the yaw velocity is ascertained; the change, as a function of time, of the lateral-acceleration variable and/or of the yaw variable is formed; and a lane change is detected when the change as a function of time exceeds a specifiable threshold value. A second variant provides that speed variables are determined which represent the rotations of at least two wheels; a velocity variable is ascertained representing the longitudinal vehicle velocity; the difference is determined between the speed variable of the fastest rear wheel and the velocity variable; and a curve and/or a lane change is detected when a specifiably large difference exists for a time duration of specifiable length.

Abstract: A method and an apparatus are described for controlling the braking force distribution in a vehicle between front and rear axles, such that at least while the vehicle is traveling in a curve, the braking force at the rear wheels is established individually in such a way that the difference between the velocity of that rear wheel and a front wheel velocity assumes defined values.

Abstract: A method and device for detecting cornering of a vehicle, or for ascertaining the transverse acceleration (ay) of a vehicle, where a signal indicating cornering of the vehicle, a measure of the curve radius, or the transverse acceleration (ay) of the vehicle is detected, using a reference speed (vS, vSL, vSR) for at least each side of the vehicle; and where a reference speed (vS, vSL, vSR) of one side of the vehicle is determined as a function of the deceleration of at least one wheel on this side of the vehicle.