A method for the online determination of values of driving dynamics for a motor vehicle. To improve the quality of the control of a motor vehicle and to reduce the demands placed on the driver, the invention discloses a driving dynamics control including the (1) estimated output quantities ŷm in dependence on determined or estimated input quantities u and predetermined or predicted vehicle state variables {circumflex over (x)} and optionally further quantities, (2) comparing the estimated output quantities ŷm with measured output quantities ym, and (3) determining the estimated driving dynamics quantities {circumflex over (x)}(tk/tk) in dependence on the measurement result and, as the case may be, further criteria.