A method is for controlling a vehicle in a driving situation. The method includes determining a target self-steering gradient of the vehicle for the driving situation; determining an actual steering angle of the vehicle in the driving situation; determining an actual self-steering gradient of the vehicle in the driving situation based on the actual steering angle; determining a target/actual deviation between the target self-steering gradient and the actual self-steering gradient; providing a first limit value for the target/actual deviation; detecting early an instability of the vehicle if the determined target/actual deviation violates the first limit value; and in response to the early detection of an instability of the vehicle: performing at least one vehicle dynamics intervention using at least one vehicle actuator of the vehicle to counteract the instability of the vehicle.

A method for operating a vehicle (1), comprising: receiving (S1) sensor data (S) of a sensor system (3) of the vehicle (1), the sensor data (S) including a current steering-angle () and steering-angle velocity (W) of the vehicle (1) driving on a road (14) with a curve (13), determining (S2) a radius ahead R.sub.A of the curve (13) at a position ahead (P2) that the vehicle (1) will reach in a predetermined time span T based on an odometry-based radius ahead R.sub.O by the equation: $R_O=R_C-T\left[\left(L.Math.W\right)/({\sin }^2\left(\right)\right],$ wherein L is a distance between front and rear wheels (17, 18) of the vehicle (1) and R.sub.C is a radius of the road (14) at the current position (P1) of the vehicle (1), and performing (S6) a curvature control function based on the determined radius ahead R.sub.A.

According to an aspect of the present invention, a vehicle control device, a vehicle control method, and a vehicle control system obtain a first angle between the orientation of a vehicle and the travel direction of the vehicle, obtain an avoidance course for avoiding an object located ahead of the vehicle, perform first angle control for bringing the first angle closer to a predetermined reference angle when causing the vehicle to follow the avoidance course, and selects either the steering actuator alone or a combination of the steering actuator and at least one of the braking and driving actuators as a control target in the first angle control based on a physical quantity resulting from tire forces of the vehicle. This makes it possible to improve accuracy of tracking the avoidance course.