A method for iteratively determining the radius of a wheel of a number of wheels of a motor vehicle, wherein the motor vehicle has at least one driving direction sensor unit for detecting straight line travel, wherein each wheel of the number of wheels is assigned at least one incremental sensor unit for detecting increments embodying wheel rotational movements, including the following steps: (a) Checking whether the motor vehicle is driving based on sensor values of at least one of the incremental sensor units; (b) When the motor vehicle is driving, checking whether the motor vehicle is driving in a straight line based on sensor values of the at least one driving direction sensor unit; (c) When the motor vehicle is driving in a straight line, checking whether each wheel of the number of wheels is slide-free and slip-free, based on sensor values of at least one of the at least one incremental sensor unit; (d) If the motor vehicle is driving in a straight line without sliding and slipping, determining the distance driven by each wheel of the number of wheels based on the sensor value of the respective incremental sensor unit and the radius to be iteratively determined of the wheel of one of the previous iterations, wherein the radius to be iteratively determined of the wheel of one of the previous iterations during the first iteration of the method corresponds to an initially determined value serving as the starting value; (e) Determining the distance driven by the motor vehicle based on the distance driven by each wheel of the number of wheels; (f) Determining the radius to be determined iteratively of the wheel based on the distance travelled by the motor vehicle and the sensor value of the respective incremental sensor unit; (g) Verifying that a validation condition is met; (h) If the validation condition is met, iterating the aforementioned steps. (a) Checking whether the motor vehicle is driving based on sensor values of at least one of the incremental sensor units; (b) When the motor vehicle is driving, checking whether the motor vehicle is driving in a straight line based on sensor values of the at least one driving direction sensor unit; (c) When the motor vehicle is driving in a straight line, checking whether each wheel of the number of wheels is slide-free and slip-free, based on sensor values of at least one of the at least one incremental sensor unit; (d) If the motor vehicle is driving in a straight line without sliding and slipping, determining the distance driven by each wheel of the number of wheels based on the sensor value of the respective incremental sensor unit and the radius to be iteratively determined of the wheel of one of the previous iterations, wherein the radius to be iteratively determined of the wheel of one of the previous iterations during the first iteration of the method corresponds to an initially determined value serving as the starting value; (e) Determining the distance driven by the motor vehicle based on the distance driven by each wheel of the number of wheels; (f) Determining the radius to be determined iteratively of the wheel based on the distance travelled by the motor vehicle and the sensor value of the respective incremental sensor unit; (g) Verifying that a validation condition is met; (h) If the validation condition is met, iterating the aforementioned steps.