A control device for controlling a height of a boom of a vehicle. The control device includes a transmission/receiver set, a processor, a control, and a communication interface. The transmission/receiver set transmits an initial measuring signal and receives an initial reflection signal in response thereto, and transmits a second measuring signal and receives a second reflection signal in response thereto. The processor determines a majority of initial reflection components of the initial reflection signal, a majority of second reflection components of the second reflection signal, and compares the initial reflection components with the second reflection components to determine matching reflection components. The matching reflection components indicate a layer of reflection objects. The communication interface links the processor with the control and to determine a control signal for controlling the boom based on the matching reflection components.
