A method (100) for determining driving state variables of a motor vehicle (105) comprises steps of sampling an input vector (u) of signals which influence the driving state of the motor vehicle (105); sampling a first output vector (y) of variables which describe the driving state of the motor vehicle (105); determining, on the basis of the input vector (u), a weighting factor (r) and a state vector (Xˆ), a second output vector (ŷ ) of variables which describe the driving state of the motor vehicle (105); and the adaptation of the weighting vector (r) on the basis of a difference between the two output vectors (y, ŷ ). In this context, the observer (110) comprises a Kaiman filter.
