Method for generating a sideslip angle signal

The method involves determining a temporally delayed slip angle signal by evaluating the sensor signals, and generating a temporally undelayed slip angle signal with the temporally delayed slip angle signal considering available signals of an electronic stability program (13). A slip angle speed is determined from the available signals of the electronic stability program and the determined slip angle speed is used in the generation of the temporally undelayed slip angle signal. The predetermined time constants are used in the generation of the temporally undelayed slip angle signal. An independent claim is included for a device for generating a slip angle signal of a vehicle.