Abstract: This invention relates to a method for estimating, by means of rigid body kinematic equations, the relative acceleration along the vertical axis of the corners of a vehicle on the basis of measurements of linear acceleration along the vertical axis and angular velocities provided by a single IMU whose position with respect to the corners of the vehicle is known. The linear acceleration and angular velocities are suitably filtered in order to obtain an estimate of the acceleration of the corners that is more faithful to the real acceleration, i.e. the acceleration measured by sensors positioned on the corners.