Motor vehicle wheel speed balancing method

A method for balancing speeds of wheels of a motor vehicle having a wheel-slip control system, comprising the steps of (a) making a coarse-step determination of scaling factors by carrying out quick coarse balancing with respect to a reference wheel where cornering below a preset cornering threshold value, overshooting of a vehicle speed above a preset minimum vehicle speed and vehicle acceleration below a preset threshold value have been detected, and (b) thereafter, making a fine-step determination of the scaling factors by carrying out one of fine balancing of each wheel of an axle with respect to the wheel on the same side of another axle when drive torque below a present torque threshold value and overshooting of the vehicle speed below the present threshold value are detected, and of fine balancing each wheel on one side with respect to the opposite wheel on the same axle when relatively drive torque above a preset threshold value, cornering above the present cornering value and overshooting of the vehicle speed above the preset minimum vehicle speed are detected, such that mutually matched corrected wheel speeds are formed in the vehicle.