Improved vehicle motion management based on a dynamic tire model

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

• obtaining input data related to one or more parameters of a tire on the heavy-duty vehicle,
• determining 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 wheel slip and generated wheel force, wherein the tire model is parameterized by the one or more tire parameters, and
• controlling the motion of the heavy-duty vehicle based on the relationship between wheel slip and generated wheel force by sending wheel slip requests from a vehicle motion management (VMM) function of the heavy-duty vehicle to one or more motion support device (MSD) control units of the heavy-duty vehicle.