Determination of centre of gravity

The device (20) has a control instruction input interface (21) for determining control instruction inputs (SB) for controlling movement of a vehicle. A movement model unit (23) calculates reference-acceleration data at a model-reference point of the vehicle with respect to the inputs based on modeled movement of the vehicle. A sensor interface (25) determines sensor-acceleration data with respect to actual movement of the vehicle. A computing unit (26) determines actual emphasis of the vehicle based on accepted emphasis and difference between reference and sensor-acceleration data. An independent claim is also included for a method for determining actual emphasis of a vehicle.