The full vehicle dynamics controller was tested under different conditions at the ADAC testing ground in Augsburg. A special split friction round course made it possible to compare the geometric control of the ROboMObil with a closed loop yaw and slip controller, which stabilises the vehicle during the cornering manoeuvre. A considerable amount of active counter-steer compensated the yaw disturbance. In addition, braking tests on split friction surface without and with yaw and slip controller and double-lane change manoeuvres on low friction surface were repeated.