A computer system for monitoring and controlling vehicle behaviour

A computer-implemented method for controlling a heavy-duty vehicle, comprising obtaining, by processing circuitry of a computer system, a vehicle model comprising a set of configured vehicle parameters, where the vehicle model is arranged to estimate a motion response by the vehicle to a control command based on the set of configured vehicle parameters,

• receiving, by the processing circuitry, a vehicle control command issued to control motion by the vehicle,
• estimating, by the processing circuitry, a vehicle response to the vehicle control command based on the vehicle model and on the vehicle control command, where the vehicle response comprises a number of observable state variables and a number of non-observable state variables,
• obtaining, by the processing circuitry, sensor measurements of state variables of the heavy-duty vehicle corresponding to the observable state variables of the vehicle model,
• determining, by the processing circuitry, a difference between the sensor measurements of the state variables and the corresponding observable state variables of the vehicle model, and
• triggering, by the processing circuitry, an action by the heavy-duty vehicle in case the difference does not satisfy a predetermined acceptance criterion, wherein the triggered action by the heavy-duty vehicle comprises a change in operational design domain, ODD, of the vehicle.