Method for determining an additional yawing moment based on side slip angle velocity

Method for controlling the brake forces on braking means of a motor vehicle, which can be actuated individually, wherein a desired yaw rate is determined as a function of the velocity of the vehicle and the steering angle set by the driver, and this desired yaw rate is compared with the actual yaw rate, wherein an additional yawing moment, which is realized by an individual actuation of the braking means, is calculated on the basis of the deviation between these two values, comprising the steps of:

• measuring a plurality of variables including a vehicle velocity, a vehicle yaw rate, and a vehicle steering angle;
• deriving a kinematically determined velocity of the side slip angle of the vehicle from the vehicle velocity and yaw rate,
• calculating an observer model velocity of the side slip angle based on the steering angle of the vehicle;
• and
• using the kinematically determined velocity of the side slip angle and the observer model velocity of the side slip angle to determine a corrected additional yawing moment.