Tyre rolling resistance estimation based on a dynamic tyre model

A method for controlling motion of a heavy-duty vehicle, the method comprising

• obtaining input data related to one or more tire parameters of a tire on the heavy-duty vehicle,
• estimating at least part of the one or more tire parameters based on the input data,
• configuring a tire model, wherein the tire model defines a relationship between tire wheel rolling resistance and vehicle motion state, wherein the tire model is parameterized by the one or more tire parameters,
• estimating vehicle motion state, and
• controlling motion of the heavy-duty vehicle based on the tire mode and on the vehicle motion state, wherein controlling motion of the heavy-duty vehicle based on the tire model and on the vehicle motion state comprises
• estimating, based on the tire model, respective resulting tire rolling resistance from different control strategies for the vehicle motion state, and
• selecting one of the different control strategies, wherein the selected control strategy is associated with a smaller tire rolling resistance compared to one associated with larger tire rolling resistance, wherein the different control strategies comprise coordinating one or more motion support devices of the heavy-duty vehicle in different ways to achieve a motion request, and
• wherein selecting one of the different control strategies is performed under constraints comprising fulfillment of a motion request.