A method comprising: receiving, by a traction application executing on a vehicle control module of a vehicle: a traction speed control input to control a traction wheel of the vehicle; based on the traction speed control input, determining, by the traction application: a first setpoint value (τ 1, ω 4) of a control attribute related to the traction wheel; receiving, by a first diagnostic supervisor: a measured value (ω 3) of the control attribute related to the traction wheel, and the first setpoint value (τ 1, ω 4), from the traction application; wherein the first diagnostic supervisor comprises a first model of a traction system of the vehicle; based on the first setpoint value (τ 1, ω 4) and the first model, calculating, by the first diagnostic supervisor a first virtual value (ω 5, ω 6) of the control attribute related to the traction wheel; based on the first virtual value (ω 5, ω 6) and the measured value (ω 3) of the control attribute related to the traction wheel, determining, by the first diagnostic supervisor, a first operating condition of the traction system of the vehicle; receiving, by a steering application executing on the vehicle control module: a steering control input to control a steered wheel of the vehicle; a measured value (θ 2, ω 2) of a control attribute related to the steered wheel; and the measured value (ω 3) of the control attribute related to the traction wheel of the vehicle; and based on the steering control input, the measured value (θ 2, ω 2) of the control attribute related to the steered wheel and the measured value (ω 3) of the control attribute related to the traction wheel, determining, by the steering application: a setpoint value (θ 1, ω 1) of the control attribute related to the steered wheel and a target steering angle (θ T). receiving, by a traction application executing on a vehicle control module of a vehicle: a traction speed control input to control a traction wheel of the vehicle; based on the traction speed control input, determining, by the traction application: a first setpoint value (τ 1, ω 4) of a control attribute related to the traction wheel; receiving, by a first diagnostic supervisor: a measured value (ω 3) of the control attribute related to the traction wheel, and the first setpoint value (τ 1, ω 4), from the traction application; a measured value (ω 3) of the control attribute related to the traction wheel, and the first setpoint value (τ 1, ω 4), from the traction application; wherein the first diagnostic supervisor comprises a first model of a traction system of the vehicle; based on the first setpoint value (τ 1, ω 4) and the first model, calculating, by the first diagnostic supervisor a first virtual value (ω 5, ω 6) of the control attribute related to the traction wheel; based on the first virtual value (ω 5, ω 6) and the measured value (ω 3) of the control attribute related to the traction wheel, determining, by the first diagnostic supervisor, a first operating condition of the traction system of the vehicle; receiving, by a steering application executing on the vehicle control module: a steering control input to control a steered wheel of the vehicle; a measured value (θ 2, ω 2) of a control attribute related to the steered wheel; and the measured value (ω 3) of the control attribute related to the traction wheel of the vehicle; and a steering control input to control a steered wheel of the vehicle; a measured value (θ 2, ω 2) of a control attribute related to the steered wheel; and the measured value (ω 3) of the control attribute related to the traction wheel of the vehicle; and based on the steering control input, the measured value (θ 2, ω 2) of the control attribute related to the steered wheel and the measured value (ω 3) of the control attribute related to the traction wheel, determining, by the steering application: a setpoint value (θ 1, ω 1) of the control attribute related to the steered wheel and a target steering angle (θ T).