Method for regulating a damper hardness of a vibration damper of a wheel of a motor vehicle , wherein a control device of the motor vehicle : - generates a structure movement signal from a first sensor signal of a first sensor unit , which is connected in a fixed manner to a structure of the motor vehicle , - generates a wheel movement signal from a second sensor signal of a second sensor unit , which detects a wheel position of the wheel relative to the structure , - generates, on the basis of the structure movement signal and the wheel movement signal , a speed signal , which describes a speed of the structure , and - generates, on the basis of the speed signal , an actuating signal for adjusting the damper hardness, wherein the structure movement signal is filtered by means of a first filter unit having a highpass characteristic or bandpass characteristic and/or the wheel movement signal is filtered by means of a second filter unit having a lowpass characteristic, characterized in that a vertical speed of the structure is adjusted to a current value of a setpoint signal by means of the actuating signal and the speed signal is used as an actual-value signal for the regulation, wherein the actuating signal is determined from a difference between the actual-value signal and the setpoint signal on the basis of a cost function , wherein a jerk in the structure of the motor vehicle resulting from a change in the vertical speed in relation to a comfort value on the one hand and in relation to a driving safety value and/or a resulting jounce path of the vibration damper on the other hand is evaluated by a cost function , wherein in the case of the cost function , the evaluation is speed-dependent. - generates a structure movement signal from a first sensor signal of a first sensor unit , which is connected in a fixed manner to a structure of the motor vehicle , - generates a wheel movement signal from a second sensor signal of a second sensor unit , which detects a wheel position of the wheel relative to the structure , - generates, on the basis of the structure movement signal and the wheel movement signal , a speed signal , which describes a speed of the structure , and - generates, on the basis of the speed signal , an actuating signal for adjusting the damper hardness, wherein the structure movement signal is filtered by means of a first filter unit having a highpass characteristic or bandpass characteristic and/or the wheel movement signal is filtered by means of a second filter unit having a lowpass characteristic, characterized in that a vertical speed of the structure is adjusted to a current value of a setpoint signal by means of the actuating signal and the speed signal is used as an actual-value signal for the regulation, wherein the actuating signal is determined from a difference between the actual-value signal and the setpoint signal on the basis of a cost function , wherein a jerk in the structure of the motor vehicle resulting from a change in the vertical speed in relation to a comfort value on the one hand and in relation to a driving safety value and/or a resulting jounce path of the vibration damper on the other hand is evaluated by a cost function , wherein in the case of the cost function , the evaluation is speed-dependent. <EOS>