Method for filtering a sensor signal, comprising - providing a time-discrete sensor signal (ZS) as an input signal (ES), - generating an output signal (AS) via continuous filtering of the input signal (ES) using a time-discrete filter (ZF) in the time domain, which performs the following filter steps for each value of the input signal (ES): ∘ comparing a specified signal value (BW) of a specified time index of the input signal (ES) with two further signal values (VW, NW) of the input signal (ES), wherein a first signal value (VW) of the two further signal values (WV, NW) is temporally prior to the specified signal value (BW) and wherein a second signal value (NW) of the further signal values (VW, NW) is temporally after the specified signal value (BW), ∘ replacing the specified signal value (BW) at the specific time index in the output signal by a new value in the event that the specific signal value (BW) lies outside the value interval spanned by the two further signal values (VW, NW), characterized by ∘ retaining the specific signal value (BW) unchanged at the specific time index in the event that the specific signal value (BW) lies within a value interval spanned by the two further signal values (VW, NW). - providing a time-discrete sensor signal (ZS) as an input signal (ES), - generating an output signal (AS) via continuous filtering of the input signal (ES) using a time-discrete filter (ZF) in the time domain, which performs the following filter steps for each value of the input signal (ES): ∘ comparing a specified signal value (BW) of a specified time index of the input signal (ES) with two further signal values (VW, NW) of the input signal (ES), wherein a first signal value (VW) of the two further signal values (WV, NW) is temporally prior to the specified signal value (BW) and wherein a second signal value (NW) of the further signal values (VW, NW) is temporally after the specified signal value (BW), ∘ replacing the specified signal value (BW) at the specific time index in the output signal by a new value in the event that the specific signal value (BW) lies outside the value interval spanned by the two further signal values (VW, NW), characterized by ∘ retaining the specific signal value (BW) unchanged at the specific time index in the event that the specific signal value (BW) lies within a value interval spanned by the two further signal values (VW, NW). ∘ comparing a specified signal value (BW) of a specified time index of the input signal (ES) with two further signal values (VW, NW) of the input signal (ES), wherein a first signal value (VW) of the two further signal values (WV, NW) is temporally prior to the specified signal value (BW) and wherein a second signal value (NW) of the further signal values (VW, NW) is temporally after the specified signal value (BW), ∘ replacing the specified signal value (BW) at the specific time index in the output signal by a new value in the event that the specific signal value (BW) lies outside the value interval spanned by the two further signal values (VW, NW), characterized by ∘ retaining the specific signal value (BW) unchanged at the specific time index in the event that the specific signal value (BW) lies within a value interval spanned by the two further signal values (VW, NW). <EOS>