A system for controlling a vehicle having a brake assembly for exerting braking force on at least one wheel on the basis of a number of control parameters is provided. The system has a vehicle stability control system configured to generate the control parameters as a function of a control quantity associated with the intensity of the braking force to be exerted on the wheels; and a vehicle handling enhancement system configured to calculate, in the presence of cornering acceleration of the vehicle, a reference vehicle yaw rate on the basis of at least the longitudinal velocity of the vehicle and the steer angle of the vehicle, and to adjust the control quantity to zero the difference between the actual yaw rate and the reference vehicle yaw rate.