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1. A computer-implemented method performed in a vehicle control unit for controlling motion of a heavy-duty vehicle, the method comprising obtaining a vehicle motion request, wherein the vehicle motion request is indicative of a target curvature and a target acceleration, determining a motion support device, MSD, control allocation based on the vehicle motion request, determining a dynamic wheel slip angle limit for at least one wheel of the vehicle based on the vehicle motion request, where the dynamic wheel slip angle limit increases with a decreasing target acceleration and corresponds to a value at which an increase in lateral tire force gives rise to more than a specified amount of decrease in longitudinal force, and controlling the motion of the heavy-duty vehicle based on the MSD control allocation constrained by the dynamic wheel slip angle limit.
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