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 model, on the vehicle motion state, and on a rolling resistance corresponding to the vehicle motion state.