Inverse tyre model boost function for a heavy-duty vehicle

A control unit for controlling at least one driven and/or braked wheel of a heavy-duty vehicle, the control unit comprising processing circuitry arranged to configure a default inverse tire model and a boost inverse tire model, where each inverse tire model represents a respective relationship between longitudinal wheel slip and longitudinal wheel force at the wheel, where the boost inverse tire model is associated with a higher maximum obtainable wheel slip value for the wheel compared to the default inverse tire model, obtain a motion request indicative of a desired longitudinal force to be generated by the wheel, select the boost inverse tire model as active inverse tire model in response to detecting a boost signal and selecting the default inverse tire model as active inverse tire model otherwise, wherein the boost signal is arranged to be manually triggered by operation of a trigger device, and control the at least one driven and/or braked wheel in dependence of the motion request and based on the active inverse tire model.