Controlling power train arrangement towards achieving substantially equal friction utilization

A computer system comprising processing circuitry configured to:

• receive a set of indications including an indication of a requested propulsion force for a vehicle and an indication of a longitudinal inclination of the vehicle;
• determine, based on the set of indications, an estimation of a height above ground of a center of mass of the vehicle, and geometrical relations between the center of mass of the vehicle and each drive axle of a plurality of drive axles of the vehicle, a drive axle propulsion force or torque for each drive axle of the plurality of drive axles resulting in substantially equal friction utilization for each drive axle of the plurality of drive axles;
• and
• control a power train arrangement of the vehicle towards providing, to each drive axle of the plurality of drive axles, the drive axle propulsion force or torque determined for that drive axle.