Method for determining a tilt angle of a vehicle

A method for determining a tilt angle of a vehicle, the method comprising:

• providing acceleration measurement values by measuring accelerations of the vehicle in directions along an X-axis, a Y-axis, and a Z-axis, the X-axis, the Y-axis, and the Z-axis being substantially perpendicular with respect to one another;
• calculating a current tilt angle of the vehicle as a function of the acceleration measurement values;
• calculating a magnitude of a vector sum of the accelerations of the vehicle in the directions along the X-axis, the Y-axis, and the Z-axis;
• and
• calculating a compensated tilt angle as a function of the current tilt angle, which is calculated from the acceleration measurement values, of at least one preceding tilt angle, and of the magnitude of the vector sum of the accelerations in the directions along the X-axis, the Y-axis, and the Z-axis such that the at least one preceding tilt angle is used for calculating the compensated tilt angle if the magnitude of the vector sum of the accelerations in the directions along the X-axis, the Y-axis, and the Z-axis is substantially different from a magnitude of a gravitational acceleration.