1. Method for the online determination of values of driving dynamics for a motor vehicle, characterized by the following steps: determining estimated output quantities &ycirc; m in dependence on determined and/or estimated input quantities u and predetermined or predicted vehicle state variables {circumflex over (x)} and optionally further quantities, comparing the estimated output quantities &ycirc; m with measured output quantities &ycirc; m, determining the estimated driving dynamics quantities {circumflex over (x)}(t k &verbar;t k ) in dependence on the measurement result and, as the case may be, further criteria.