Abstract: A method for improving the controllability of motor vehicles during braking wherein desired slip values are determined and adjusted with the aid of a wheel slip controller. According to the method, the following are measured: the yaw rate .psi., the steering angle .delta., the wheel speeds V.sub.Ri, the inlet pressure P.sub.inlet or wheel brake pressure P.sub.i, and, if required, the engine speed and the throttle valve angle. The following variables are estimated using the measured values: the longitudinal vehicle speed V.sub.X, the longitudinal vehicle acceleration V.sub.X, the wheel slip values .lambda..sub.i, the braking forces F.sub.Bi, the tire forces F.sub.Ri, and the transverse speed V.sub.Y. Desired slip values .lambda..sub.i * are then determined from these measured and estimated variables with the aid of a simple vehicle model and supplied to the slip controller to control the vehicle wheel brake pressure.

Abstract: A required yaw rate value is determined based on driver inputs such as steering angle, master cylinder pressure, and throttle butterfly angle. The required yaw rate is compared to a measured actual yaw rate value and the actual yaw moment acceleration is influenced based on the comparison.

Abstract: In a method for braking motor vehicle wheels, to reduce a yawing moment produced by an antilock braking system, the build-up of braking pressure on at least one wheel is influenced. The braking pressure on the wheels of one axle is influenced to such an extent that the differential between the braking pressures of one axle does not exceed a maximum permissible value. This maximum permissible value is made dependent upon the vehicle speed and the transversal acceleration.

Abstract: Brake pressure is varied briefly by means of pressure pulses at regular intervals during phases when brake pressure is otherwise maintained constant, and any variations in transverse acceleration at each axle are determined. These variations at the axles are used to modify the wheel slip by varying the brake pressure in order to increase stability while retaining an adequate steerability reserve or vice versa.

Abstract: A brake-pressure controller regulates the brake pressure on the individual wheels according to the instantaneous slip values in comparison with variable desired slip values. The angle of inclination of one wheel of each axle is determined, and the desired slip values are varied as a function of these angles of inclination with the effect of a better vehicle controllability.

Abstract: A brake slippage control is described where the difference .DELTA..lambda. between an acceptable brake slippage .lambda.* and the actual brake slippage is determined. The difference .DELTA..lambda. is supplied to a control amplifier and converted into actuating times for a brake pressure control unit. Magnitude and increase of the reference value required for forming the slippage values .lambda. and .lambda.* is from time to time actualized when the control is switched off.

Abstract: A anti-lock brake control system and/or a drive slip control system is described the slippage value of which for the brake pressure control is to be set close to the maximum of the .mu.-slippage curve, on the stable branch, that is, during the control.For this purpose, a short pressure pulse is generated in a phase where the pressure is maintained constant and the difference of the reference speed and the wheel speed is integrated (J) over a time T.sub.I and the maximum of the difference (D.sub.max) is determined in this time. The two values are divided ##EQU1## and the resulting values is used for determining the slippage.