System for enhancing cornering performance of a vehicle controlled by a safety system

A system (4) for controlling a vehicle (1) having a brake assembly (3) for exerting braking force on at least one wheel (2) on the basis of a number of control parameters. The system (4) has a safety system (7) configured to generate the control parameters as a function of a control quantity (Cf) associated with the braking force to be exerted on the at least one wheel; and a vehicle handling enhancement system (10) configured to : calculate a reference vehicle yaw acceleration (È REF ) on the basis of at least the longitudinal speed (vel) of the vehicle (1) and the steer angle (´) of the vehicle (1); and adjust the control quantity (Cf) to zero the difference between the actual yaw acceleration (È) and the reference vehicle yaw acceleration (È REF ).