Vehicle tracking device and tracking method for a motor vehicle

Motor vehicle tracking device, comprising: - brake actuators (7), which adjust the braking forces applied to the respective wheels (5FL-5RR) are applied; - sensors (13-14, 15-20, 22FL-22RR) that detect the running state of the own vehicle, and a travel path along which the vehicle is moving, a tracking error (XS) is determined, and - a to the brake actuators (7) and the sensors connected control unit (8) for driver-independent activation of the brake actuators (7), in response to signals from the sensors for the purpose of preventing deviation from the lane wherein braking moments are determined by a yaw moment control device, and a deceleration control device and predetermined, characterized in that a ratio of the induced by the yaw moment control device and the deceleration control device braking torque is set such that with a small track deviation (XS) of the braking force component generated by the yaw moment control device relative to the caused by the deceleration control device brake force component is increased while at high track deviation (XS) is increased proportion of the braking force generated by the deceleration control device relative to the yaw moment caused by the braking force proportion controller.