The present invention relates to a method and a device for determining a dynamic tyre circumference of a means of transport. The method comprises the following steps: receiving a first signal (S1) representing a yaw rate of the means of transport, a second signal (S2) representing a wheel rotation speed of a wheel of the means of transport, a third signal (S3) representing a steering angle of the means of transport, and a fourth signal (S4) representing a dynamic track width of the means of transport; determining a first output signal (A1) of a first Kalman filter (K1) representing the dynamic tyre circumference of the wheel using the first signal (S1), the second signal (S2), the third signal (S3) and the fourth signal (S4) as input signals for the first Kalman filter (K1); and using the first output signal (A1) in a control unit of the means of transport.
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