Method and device for detecting motor vehicle tilt

An apparatus for detecting a tilt tendency of a vehicle about a vehicle axis, the vehicle axis being oriented in a longitudinal direction of the vehicle, comprising:

• first means for ascertaining, for at least one wheel, a variable describing a wheel rotation speed;
• second means for ascertaining at least one variable representing transverse dynamics of the vehicle;
• third means for generating signals, the signals being a function of the at least one variable representing the transverse dynamics of the vehicle, the signals activating at least one of (A) an actuator associated with a respective wheel of the at least one wheel, the actuator at least one of briefly generating and modifying a braking torque at the respective wheel and (B) means for influencing a torque delivered by an engine and actuators associated with wheels of the vehicle, the influencing means and the actuators being activated such that a drive torque is at least one of briefly generated and modified at the respective wheel;
• fourth means for determining a variable describing quantitatively a wheel behavior for the at least one wheel, the variable describing quantitatively the wheel behavior being a function of at least the variable ascertained by the first means for the at least one wheel, the fourth means determining the variable describing quantitatively the wheel behavior at least one of during and after at least one of briefly generating and modifying at least one of the braking torque and the drive torque at the at least one wheel;
• and
• fifth means for determining the tilt tendency of the vehicle as a function of at least the variable determined by the fourth means for the at least one wheel.