Abstract: A method for tuning a parameter of a Kalman filter in a wheel inspection for a vehicle. The method includes: associating wheel inspection data of the vehicle with locations of wheels in the vehicle; evaluating a wheel stable score of the vehicle based on the wheel inspection data and the association, wherein the wheel stable score indicates reliability of the wheel inspection; and tuning measurement error covariance of the Kalman filter according to the evaluated wheel stable score. By using the method, the parameter of the Kalman filter can be dynamically tuned to enable the Kalman filter to filter more accurately to ensure the correct result of the wheel inspection. In addition, an apparatus for tuning a parameter of a Kalman filter and a wheel inspection system for a vehicle are disclosed.