Method for iteratively determining the radius of a motor vehicle wheel

A method for iteratively determining and using a radius of a wheel of a number of wheels of a motor vehicle, wherein the motor vehicle includes a driving direction sensor unit for detecting straight line travel, wherein each wheel of the number of wheels is assigned an incremental sensor unit for detecting increments embodying wheel rotational movements, the method comprising:

• (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 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 incremental sensor units;
• (d) when the motor vehicle is driving in a straight line without sliding and slipping, determining a distance driven by each wheel of the number of wheels based on the sensor value of the respective incremental sensor unit and a radius to be iteratively determined of the wheel of one of previous iterations, wherein the radius to be iteratively determined of the wheel of one of the previous iterations during a first iteration corresponds to an initially determined value serving as a starting value;
• (e) determining a 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 iteratively determined of the wheel based on the distance driven by the motor vehicle and the sensor value of the respective incremental sensor unit;
• (g) verifying that a validation condition is met;
• (h) upon verification that the validation condition is met, iterating the aforementioned steps, and
• (i) using the determined radius during automated parking or unparking of the motor vehicle, wherein the motor vehicle partially self-driving or partially self-driving.