Kim Kardashian & Kanye West -- MADNESS IN BEV HILLS ... We're Commandeering This SUV!!!

Kim Kardashian and Kanye West took over a waiting SUV outside Spago in Beverly Hills last night -- problem was, the car wasn't waiting there for them.

The newly engaged couple was leaving a fundraiser for Wolfgang Puck's, "Dream For Future Africa Foundation" when they were bombarded by paparazzi.

A Bev Hills police officer stepped in and tried to help get the couple to the first SUV they saw ... but after loading into the ride, they realized it was the wrong car.

K and K tried to hide out in the back while people scrambled to call for the right SUV -- and after a couple of intense minutes, they made the transfer.

Gotta hand it to Kanye ... 'cause while the situation was nothing short of insane, he kept his composure the entire time and didn't snap at anyone.