METHOD FOR CONTROLLING BRAKING AND/OR TRACTION OF A VEHICLE

Method (100) for controlling braking and/or traction of a vehicle, the vehicle comprising wheel tires, at least one wheel tire (1) of the vehicle being provided with a sensor (2) configured to collect wheel parameters (WP) on the at least wheel tire (1), to measure or to estimate a slip measure or estimation (SME) from the wheel parameters (WP) directly collected on the at least wheel tire (1), the vehicle further comprising a vehicle control unit (VCU) and a braking control unit (BCU) and a traction control unit (TCU), the method comprising the following steps : - Determining (101) by the vehicle control unit a desired slip value (DSV) based on vehicle state parameters (VSP), the desired slip value being communicated to the braking control unit and to the traction control unit; - Measuring or estimating (102) a slip measure or estimation (SME) from wheel parameters (WP) collected on the at least wheel tire by the sensor (2), the slip measure or estimation (SME) being communicated to the braking control unit (BCU) and/or to the traction control unit (TCU); - Controlling (103) a wheel slip (WS) by the braking control unit (BCU) and by the traction control unit (TCU), based on the desired slip value (DSV) and the slip measure or estimation (SME).