Vehicle movement dynamics control system

A vehicle movement dynamics control system has a higher-level vehicle movement dynamics computer downstream of which a brake controller is connected. The latter has a channel for controlling the yaw velocity to a desired value and a channel for limiting the attitude angle. The computer prescribes the desired value and the limit value, and determines which channel is effective on the basis of the driving situation. The two channels generate a control signal which is conducted via a control amplifier having a proportional and a differential component. An actuating signal which is used to input brake pressure at the wheel brakes is formed from the signal components produced, the instantaneous driving situation in the two cases being classified into one of a plurality of classes, and this classification also serving to determine the wheels at which brake pressure is input. A rear axle steering controller is also responsive to yaw velocity and attitude angle.