Method for controlling braking and/or traction of a vehicle, the vehicle comprising wheel tires, at least one wheel tire of the vehicle being provided with a sensor configured to collect wheel parameters on the at least one wheel tire, to measure or to estimate a slip measure or estimation from the wheel parameters directly collected on the at least wheel tire, the vehicle further comprising a vehicle control unit and a braking control unit and a traction control unit, the method comprising the following steps: - Determining by the vehicle control unit a desired slip value based on vehicle state parameters, the desired slip value being communicated to the braking control unit and to the traction control unit; - Measuring or estimating a slip measure or estimation from wheel parameters collected on the at least wheel tire by the sensor, the slip measure or estimation being communicated to the braking control unit and/or to the traction control unit; - Controlling a wheel slip by the braking control unit and/or by the traction control unit, based on the desired slip value and the slip measure or estimation, characterized in that the vehicle comprises a trailer comprising trailer wheels, at least one trailer wheel tire being provided with a sensor configured to collect trailer wheel parameters on the at least one trailer wheel tire, to measure or to estimate a trailer wheel slip measure or estimation, and a tractor comprising tractor wheels, at least one tractor wheel tire being provided with another sensor configured to collect tractor wheel parameters on the at least one tractor wheel tire, to measure or to estimate a tractor wheel slip measure or estimation, and wherein the braking control unit comprises a trailer braking control unit and a tractor braking control unit, and wherein the vehicle state parameters comprises trailer vehicle state parameters and tractor vehicle state parameters, and wherein the desired slip value comprises a trailer desired slip value and a tractor desired slip value, and wherein the slip measure or estimation comprises the trailer wheel slip measure or estimation and the tractor wheel slip measure or estimation, and wherein the wheel slip comprises a trailer wheel slip and a tractor wheel slip, the trailer wheel slip being controlled by the trailer braking control unit, based on the trailer desired slip value and the trailer slip measure or estimation, and the tractor wheel slip being controlled by the tractor braking control unit and by the traction control unit, based on the tractor desired slip value and the tractor slip measure or estimation. - Determining by the vehicle control unit a desired slip value based on vehicle state parameters, the desired slip value being communicated to the braking control unit and to the traction control unit; - Measuring or estimating a slip measure or estimation from wheel parameters collected on the at least wheel tire by the sensor, the slip measure or estimation being communicated to the braking control unit and/or to the traction control unit; - Controlling a wheel slip by the braking control unit and/or by the traction control unit, based on the desired slip value and the slip measure or estimation,