Method for controlling propulsion of a heavy-duty vehicle

A control unit arranged to control propulsion of a heavy-duty vehicle, where the heavy-duty vehicle comprises a differential drive arrangement arranged in connection to a drive axle with a left wheel and a right wheel, the control unit comprising processing circuitry configured to

• determine a nominal shaft slip corresponding to a desired wheel force to be generated by the drive axle wheels, wherein the nominal shaft slip is indicative of a difference between a current vehicle velocity and a vehicle velocity corresponding to the shaft speed,
• determine a difference between a speed of the left wheel and a speed of the right wheel,
• adjust the nominal shaft slip in dependence of a magnitude of the wheel speed difference to a target shaft slip,
• wherein the target shaft slip is smaller than the nominal wheel slip by an amount determined as a function of the magnitude of the wheel speed difference, and
• control the shaft speed based on the target shaft slip.