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.

Methods and devices for adapting a gain factor of an acceleration controller for a motor vehicle are provided. An acceleration controller specifies an acceleration setpoint for the motor vehicle in a time increment. The acceleration setpoint is specified as a function a speed setpoint of the motor vehicle, an actual speed of the motor vehicle, and the gain factor. The device stores the speed setpoint, the actual speed, and the acceleration setpoint specified as information for at least two time increments, select a first subset of the information, and train a model as a function of the first subset. The model predicts an actual speed in a later time increment from at least one stored actual speed and at least one stored acceleration setpoint, select a second subset of the information, and adapt the gain factor as a function of the second subset, the model and the acceleration controller.