Method and device for determining a resulting setpoint deflection angle and method for adjusting a setpoint deflection angle

The method involves detecting beginning of a braking process. An ideal reference-steering angle (9) is determined. An ideal reference-slip angle or an ideal reference-slip angle range (12) is determined. An actual slip angle (11) is determined during the braking process. A steering torque applied by a motor vehicle driver is detected. A resulting reference-steering angle (10) is determined based on deviation of the actual slip angle from the ideal reference-slip angle or the ideal reference-slip angle range when the applied steering torque does not deviate from a target-steering torque. Independent claims are also included for the following: (1) a method for adjusting a reference-steering angle of a motor vehicle during a braking process (2) a device for determining a resulting reference-steering angle of a motor vehicle during a braking process.