The invention relates to a method for operating a vehicle (1), wherein the vehicle (1) has a respective
electric machine (EVA, EHA) on a front axle (VA) and on a rear axle (HA), wherein the respective
electric machine (EVA, EHA) can be operated in a motor mode to drive wheels (RVA, RHA) of the axle (VA, HA) on which it is arranged, and, as a constituent part of a
regenerative brake, can be operated in a generator mode for regenerative braking of the wheels (RVA, RHA) of the axle (VA, HA) on which it is arranged, and wherein the vehicle (1) has a friction
brake system for braking the wheels (RVA, RHA). For this purpose, an axle force which can be applied to the respective axle (VA, HA) is determined as a
force vector which consists of a positive or negative drive torque of the respective axle (VA, HA), a braking torque of the respective axle (VA, HA) that is generated by the friction
brake system, and a transverse acceleration at the respective axle (VA, HA), wherein a
torque distribution of a requested positive or negative total drive torque to the two axles (VA, HA) is carried out depending on the determined axle force which can be applied to the respective axle (VA, HA). According to the invention, a longitudinal force on the respective axle (VA, HA) that results from the positive or negative drive torque and the braking torque is determined by means of a wheel
radius of the wheels (RVA, RHA) of the respective axle (VA, HA).