The invention relates to a method for controlling a vehicle in which the rotation behaviour of the individual wheels is measured and evaluated in order to determine the control values that are to be used for calculating and/or modulating the brake pressure in the wheel brakes of the wheels being controlled and/or for an intervention in the engine management. According to the invention, the vibration behaviour of the individual wheels, especially the wheels on the driven axle, is detected and evaluated in order to identify a gravel road or a similar road with a higher slip requirement. The driving situation of a gravel road is considered to have been identified, and/or a corresponding control function of the vehicle control system is activated only when the wheel acceleration exceeds a predetermined wheel acceleration limit value on at least two wheels and when the at least two wheels exhibit a certain vibration behaviour.