Abstract: A method and a system for estimating a road gradient ? by using a sensor fusion: Detect whether at least one dynamic process is affecting the vehicle. Estimate gradient ? by means of the sensor fusion by joint weighting of at least two input signals to the sensor fusion. The at least two input signals include a signal based on an accelerometer and an input signal based on at least one force equation. At least one of the input signals and/or at least one weighting parameter for the sensor fusion are determined on the basis of detecting whether the at least one dynamic process is affecting the vehicle.

Abstract: A method and a system for estimating a road gradient ? by using a sensor fusion: Detect whether at least one dynamic process is affecting the vehicle. Estimate gradient ? by means of the sensor fusion by joint weighting of at least two input signals to the sensor fusion. The at least two input signals include a signal based on an accelerometer and an input signal based on at least one force equation. At least one of the input signals and/or at least one weighting parameter for the sensor fusion are determined on the basis of detecting whether the at least one dynamic process is affecting the vehicle.

Abstract: A method for calibration of an acceleration sensor (220) to determine acceleration indications of a motor vehicle (100, 110): Determine a characteristic constant (?0) for the acceleration sensor (220) at the time of refuelling the vehicle. A computer program product contains program code (P) for a computer (200; 210; 400) for implementing the method. Also a device and a motor vehicle (100) which is equipped with the device.