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 _m 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 _m with measured output quantities y_m, and (3) determining the estimated driving dynamics quantities {circumflex over (x)}(t_k/t_k) in dependence on the measurement result and, as the case may be, further criteria.