A method for determining state values of a wheel of a wheel drive module comprising the wheel, a speed modulation gearbox, a first electric motor and a second electric motor, wherein the first and the second electric motors (M1, M2) are designed to drive the wheel jointly by means of the speed modulation gearbox about a wheel axis and to steer it about a steering axis orthogonal to the wheel axis, characterized in that wheel drive module furthermore comprises at least one first sensor for sensing state values of the first electric motor and at least one second sensor for sensing state values of the second electric motor as well as at least one third sensor for sensing state values of the wheel, and/or a fourth and fifth sensor (S4, S5), wherein the fourth sensor senses state values of the first electric motor, and the fifth sensor senses state values of the second electric motor, so that the wheel drive module in a first configuration comprises at least one first sensor, at least one second sensor and at least one third sensor, the wheel drive module in a second configuration comprises at least one first sensor, at least one second sensor as well as a fourth and fifth sensor (S4, S5), and the wheel drive module in a third configuration comprises at least one first sensor, at least one second sensor, at least one third sensor as well as a fourth and fifth sensor (S4, S5), wherein, in the method for determining state values of the wheel drive module in the first configuration, the state values determined by the first sensor and the state values determined by the second sensor as well as the state values determined by the third sensor and optional control signals for actuating the first and second electric motors (M1, M2) are each converted into a uniform unit, wherein, in the method for determining state values of the wheel drive module in the second configuration, the state values determined by the first sensor and the state values determined by the second sensor as well as the state values determined by the fourth sensor and the fifth sensor and optional control signals for actuating the first and second electric motors (M1, M2) are each converted into a uniform unit, wherein, in the method for determining state values of the wheel drive module in the third configuration, the state values determined by the first sensor and the state values determined by the second sensor as well as the state values determined by the third sensor as well as the state values determined by the fourth sensor and the fifth sensor and optional control signals for actuating the first and second electric motors (M1, M2) are each converted into a uniform unit, and the state values converted into the uniform unit are compared with each other, and, from the comparison, actual state values of the wheel are determined. wheel drive module furthermore comprises at least one first sensor for sensing state values of the first electric motor and at least one second sensor for sensing state values of the second electric motor as well as at least one third sensor for sensing state values of the wheel, and/or a fourth and fifth sensor (S4, S5), wherein the fourth sensor senses state values of the first electric motor, and the fifth sensor senses state values of the second electric motor, so that the wheel drive module in a first configuration comprises at least one first sensor, at least one second sensor and at least one third sensor, the wheel drive module in a second configuration comprises at least one first sensor, at least one second sensor as well as a fourth and fifth sensor (S4, S5), and the wheel drive module in a third configuration comprises at least one first sensor, at least one second sensor, at least one third sensor as well as a fourth and fifth sensor (S4, S5), wherein, in the method for determining state values of the wheel drive module in the first configuration, the wheel drive module in a second configuration comprises at least one first sensor, at least one second sensor as well as a fourth and fifth sensor (S4, S5), and the wheel drive module in a third configuration comprises at least one first sensor, at least one second sensor, at least one third sensor as well as a fourth and fifth sensor (S4, S5), wherein, in the method for determining state values of the wheel drive module in the first configuration, the state values determined by the first sensor and the state values determined by the second sensor as well as the state values determined by the third sensor and optional control signals for actuating the first and second electric motors (M1, M2) are each converted into a uniform unit, wherein, in the method for determining state values of the wheel drive module in the second configuration, the state values determined by the first sensor and the state values determined by the second sensor as well as the state values determined by the fourth sensor and the fifth sensor and optional control signals for actuating the first and second electric motors (M1, M2) are each converted into a uniform unit, wherein, in the method for determining state values of the wheel drive module in the third configuration, the state values determined by the first sensor and the state values determined by the second sensor as well as the state values determined by the third sensor as well as the state values determined by the fourth sensor and the fifth sensor and optional control signals for actuating the first and second electric motors (M1, M2) are each converted into a uniform unit, and the state values converted into the uniform unit are compared with each other, and, from the comparison, actual state values of the wheel are determined.