Limitation of the torque of a friction coefficient based vehicle control loop

The method involves detecting a coefficient of friction and determining a limit value for the torque as a function of the detected coefficient of friction. The torque of the control loop (1) is controlled to the limit value. Independent claims are included for the following: (1) arrangement for determining limit value for torque of control loop used for stabilizing vehicle; and (2) automatic control system for stabilizing vehicle.