Method of controlling a heavy-duty vehicle

A vehicle motion management system for a heavy-duty vehicle, the vehicle motion management system being connectable to an actuator control system configured to control an electric machine to apply a propulsion torque on at least one wheel of the vehicle upon applying a pressure on an accelerator pedal of the vehicle, and to apply a brake torque on the at least one wheel upon releasing the pressure from the accelerator pedal, the vehicle motion management system being further configured to control a brake system arranged to control at least one foundation brake of the vehicle, the vehicle motion management system comprising control circuitry configured to:

• receive a signal indicative of a lateral force on the at least one wheel of the vehicle when operating the vehicle at a curvature road path;
• determine a maximum allowable lateral force of the at least one wheel for obtaining a desired longitudinal brake force by the electric machine when releasing the pressure from the accelerator pedal, the maximum allowable lateral force being based on a determined vertical wheel force of the at least one wheel, an estimated road friction between a tire surface of the at least one wheel and a road surface operable by the vehicle, and a sensor detected slope inclination of the road surface;
• and
• transmit a signal indicative of a foundation braking interaction to an operator of the vehicle when the lateral force is higher than the maximum allowable lateral force, the signal being received by at least one of a human machine interface of the vehicle and the brake system for controlling the at least one foundation brake to apply a brake torque.