Abstract: Wheel suspension for a vehicle (7), with a carrier element (5), with a wheel carrier (1), which is arranged at a spaced location from the carrier element (5) and which is pivotable about a steering axle (30), with a wheel (14) mounted rotatably on the wheel carrier (1), with a steering wheel (58), which is mounted rotatably on the carrier element (5) at least indirectly and by means of which the wheel carrier (1) is pivotable about the steering axle (30), with at least one joint (8), which is connected to the wheel carrier (1) and which has a housing (26), a pivot pin (25) mounted pivotably in same and an angle-measuring device with a magnet (27) and with a magnetic field-sensitive sensor assembly unit (28), and with at least one guide means (2), via which the joint (8) is connected to the carrier element (5).