Method for detecting faults related to wheels of a motor vehicle in a driving situation, comprising: - a first step (S 1) of automatically determining a first series of corrective steering wheel angles successively applied during a first time window of driving said motor vehicle on a first portion of a substantially rectilinear traffic lane, said corrective steering wheel angles being applied so that said vehicle follows a path parallel to said first traffic lane portion; - a step (S 2) of automatically detecting the presence of a fault affecting a pair of steered wheels of the motor vehicle, from the corrective steering wheel angles of the first series; and, optionally, - a step (S 3; S 8) of estimating a type of fault associated with the fault whose presence has been detected; - a step (S 4; S 9) of identifying the steered wheel of said pair of wheels affected by said fault; and - a step (S 5) of generating a warning message for the attention of the driver of the motor vehicle, said message comprising the estimated type of fault and the wheel identified as having the fault, characterized in that it comprises, following a detection of the presence of a fault resulting from the automatic detection step (S 2), a second step (S 6) of automatically determining a second series of corrective steering wheel angles successively applied during a second time window of driving said motor vehicle on a second traffic lane portion of curved profile, said corrective steering wheel angles being applied so that said vehicle follows a path parallel to said second traffic lane portion, and a step (S 7) of calculating an average on the corrective steering wheel angles of the second series. - a first step (S 1) of automatically determining a first series of corrective steering wheel angles successively applied during a first time window of driving said motor vehicle on a first portion of a substantially rectilinear traffic lane, said corrective steering wheel angles being applied so that said vehicle follows a path parallel to said first traffic lane portion; - a step (S 2) of automatically detecting the presence of a fault affecting a pair of steered wheels of the motor vehicle, from the corrective steering wheel angles of the first series; and, optionally, - a step (S 3; S 8) of estimating a type of fault associated with the fault whose presence has been detected; - a step (S 4; S 9) of identifying the steered wheel of said pair of wheels affected by said fault; and - a step (S 5) of generating a warning message for the attention of the driver of the motor vehicle, said message comprising the estimated type of fault and the wheel identified as having the fault, characterized in that it comprises, following a detection of the presence of a fault resulting from the automatic detection step (S 2), a second step (S 6) of automatically determining a second series of corrective steering wheel angles successively applied during a second time window of driving said motor vehicle on a second traffic lane portion of curved profile, said corrective steering wheel angles being applied so that said vehicle follows a path parallel to said second traffic lane portion, and a step (S 7) of calculating an average on the corrective steering wheel angles of the second series.