Vehicle motion management based on torque request with speed limit

A control unit for controlling a heavy duty vehicle,

• wherein the control unit is arranged to obtain input data indicative of a desired wheel force to be generated by at least one wheel of the vehicle, and
• to translate the input data into a respective equivalent wheel speed or wheel slip to be maintained by the wheel to generate the desired wheel force based on an inverse tyre model for the wheel,
• wherein the control unit is arranged to obtain the inverse tyre model in dependence of a current operating condition of the wheel, and
• wherein the control unit is arranged to control the heavy duty vehicle based on the equivalent wheel speed or wheel slip and/or based on a wheel speed limit or wheel slip limit associated with the equivalent wheel speed or wheel slip.