Abstract: A technique for determining and compensating for a dead time of at least one actuator for lateral guidance or longitudinal guidance of a motor vehicle includes a device including at least one sensor or at least one sensor interface for detecting at least one actual value of a state of motion of the lateral guidance or longitudinal guidance. A unit of determination of the device is configured to determine the dead time of at least one actuator by comparing at least one target value of the state of motion calculated from a dynamic model with the recorded at least one actual value. A control unit of the device is configured to control the actuator depending on the detected state of motion and the certain dead time of at least one actuator, wherein the control unit outputs time-preceding control signals to the actuator around the dead time.