Estimating lateral slip losses in a vehicle combination

A computer-implemented method for estimating lateral slip losses, Pslip,y, in a vehicle performing a manoeuvre, the method comprising:

• acquiring, by processing circuitry of a computer system, a lateral slip resistance coefficient, LSRC, for the vehicle;
• acquiring, by the processing circuitry, parameters of the manoeuvre to be performed by the vehicle, including a vehicle speed, vx, a vertical force, Fz, on one or more axles of the vehicle, and a turning radius, R;
• and
• estimating, by the processing circuitry, lateral slip losses, Pslip,y, for the vehicle based on the acquired lateral slip resistance coefficient, LSRC, and the acquired parameters of the manoeuvre.