A method estimates parameters for a self-energized brake mechanism having a moving part, a brake pad, a brake disc, a caliper, and a wedge profile. The method includes the following acts: applying the same actuator force to the brake mechanism and simultaneously to a dynamical model of the brake mechanism; calculating deviations based on measured state variables of the brake mechanism and simulated state variables of the dynamical model; and producing the estimated parameters by online minimization. A device is provided for executing the method.