Method for controlling a heavy-duty vehicle

A method for controlling a powertrain system of a heavy-duty vehicle, the powertrain system having at least one differential arrangement for receiving torque from a propulsion unit of the powertrain system and delivering at least a part of the torque to a set of first and second wheels, the method being implemented by a control unit and comprising:

• determining a split-friction condition across a differential indicative of a wheel slip difference between the first and the second wheels by comparing a first wheel speed of the first wheel to a second wheel speed of the second wheel;
• identifying the first wheel as a high-friction side of the differential arrangement and the second wheel as a low-friction side of the differential arrangement;
• determining a target wheel slip for the high-friction side based on a relationship between a longitudinal tire force and a lateral tire force, the longitudinal tire force and the lateral tire force at least partially based on a road condition;
• and
• in response to the determined split-friction condition, controlling a brake force on the low-friction side of the differential arrangement to obtain the target wheel slip on the high-friction side.