Method for compensating for vertical movements

A system for compensating for an inclination of a vehicle in at least one spatial direction, comprising:

• a superstructure and with an active undercarriage having a plurality of wheels that are in contact with a carriageway, wherein the system is equipped with a plurality of sensors and with a control device, wherein each wheel is connected over its length with an adjustable actuator to the superstructure at a suspension point associated with one of the wheels, wherein vertically oriented movements of the superstructure are caused by an inclination of the carriageway and by unevenness of the carriageway, wherein the control device is designed to provide actuating signals to the actuators and to control their length, wherein a first change of the length of at least one actuator for compensation of the inclination of the carriageway is to be carried out for frequencies in a first, lower frequency range, which is limited by a first minimum frequency and by a first maximum frequency, and wherein a second change of the length of the at least one actuator for compensation for unevenness of the carriageway for frequencies in a second, higher frequency range is to be carried out in a second, higher frequency range that is limited by a second minimum frequency and a second maximum frequency,
• wherein the control device is provided with a horizontal leveling regulator provided with a low-pass filter connected downstream, which is designed to provide actuating signals in the low frequency range.