VEHICLE CONTROL BASED ON A DYNAMICALLY CONFIGURED SIDESLIP LIMIT

A computer-implemented method performed in a vehicle control unit (130, 140) for controlling motion of a heavy-duty vehicle (100), the method comprising obtaining (S1) a vehicle motion request, wherein the vehicle motion request is indicative of a target curvature (c) and a target acceleration (a), determining (S2) a motion support device, MSD, control allocation (T/ λ/ ω / δ) based on the vehicle motion request, determining (S3) a dynamic wheel slip angle limit (α) based on the vehicle motion request, where dynamic wheel slip angle limit (α) increases with a decreasing target acceleration (a), and controlling (S4) the motion of the heavy-duty vehicle (100) based on the MSD control allocation constrained by the dynamic wheel slip angle limit (α).