A method for controlling a vehicle in a driving situation includes: determining a trajectory of the vehicle for the driving situation; determining a target steering angle on the basis of the trajectory; determining an actual steering angle of the vehicle in the driving situation; determining a steering angle deviation between the determined target steering angle and the determined actual steering angle; providing a steering angle tolerance value for the steering angle deviation; providing early detection of instability of the vehicle when the determined steering angle deviation violates the steering angle tolerance value; and in response to the early detection of instability of the vehicle: executing at least one driving dynamics intervention using at least one vehicle actuator of the vehicle to counteract the instability of the vehicle. A driver assistance system, a vehicle and a computer program product are configured to perform the method.