Patent ID: 8874357

Claim:
Device ( 20 ) for determining the actual center of gravity ( 32 ) of a vehicle ( 30 ), having: a control command input interface ( 21 ) for determining control command inputs (SB) for controlling the movement of the vehicle ( 30 ), a movement modeling unit ( 23 ) which is set up to calculate reference acceleration data (B Ref ) at a model reference point ( 31 ) of the vehicle with respect to the control command inputs (SB) on the basis of modeled movements of the vehicle ( 30 ), which are derived from a vehicle movement model, with respect to the control command inputs (SB) determined via the control command input interface ( 21 ), a sensor interface ( 25 ) for determining sensor acceleration data (B Sen ) which are measured by an acceleration sensor system ( 24 ) at a sensor reference point ( 31 ) of the vehicle ( 30 ) and relate to the actual movements of the vehicle ( 30 ) resulting from the control command inputs (SB), and a computation unit ( 26 ) which is set up to determine the actual center of gravity ( 32 ) of the vehicle ( 30 ) on the basis of an assumed center of gravity ( 31 ) and the difference between the reference acceleration data (B Ref ) and the sensor acceleration data (B Sen ).