A control unit for controlling a vehicle wheel provided with a tyre, wherein the control unit comprises or is operatively connected to a data storage, which data storage has a stored tyre model for the tyre, wherein, in the tyre model, longitudinal tyre force (Fx) is represented as at least a function of longitudinal wheel slip (λ), longitudinal wheel slip being dependent on rotational speed of the wheel and velocity of the vehicle, wherein the control unit is configured to: - receive at least one tyre parameter input, which tyre parameter input includes a measured value of at least one parameter which affects the longitudinal slip stiffness of the tyre, - correct said function in the stored tyre model based on the received tyre parameter input, - obtain or generate a wheel torque request, characterized in that the control unit is further configured to: - convert the obtained or generated wheel torque request to a wheel rotational speed request based on the corrected function, and - send the wheel rotational speed request to an actuator (114, 116) for providing a rotational speed of the wheel corresponding to said wheel rotational speed request wherein the control unit is configured to receive a plurality of different tyre parameter inputs, each tyre parameter input including a measured value of a respective one of a plurality of parameters which affect the longitudinal slip stiffness of the tyre, wherein the control unit is configured to correct said function in the stored tyre model by applying a combined correction factor on said function, the combined correction factor being a function of a plurality of slip stiffness correction factors, wherein each slip stiffness correction factor has a variation relative to a respective one of said plurality of parameters. wherein the control unit is configured to: - receive at least one tyre parameter input, which tyre parameter input includes a measured value of at least one parameter which affects the longitudinal slip stiffness of the tyre, - correct said function in the stored tyre model based on the received tyre parameter input, - obtain or generate a wheel torque request, - receive at least one tyre parameter input, which tyre parameter input includes a measured value of at least one parameter which affects the longitudinal slip stiffness of the tyre, - correct said function in the stored tyre model based on the received tyre parameter input, - obtain or generate a wheel torque request, characterized in that the control unit is further configured to: - convert the obtained or generated wheel torque request to a wheel rotational speed request based on the corrected function, and - send the wheel rotational speed request to an actuator (114, 116) for providing a rotational speed of the wheel corresponding to said wheel rotational speed request wherein the control unit is configured to receive a plurality of different tyre parameter inputs, each tyre parameter input including a measured value of a respective one of a plurality of parameters which affect the longitudinal slip stiffness of the tyre, wherein the control unit is configured to correct said function in the stored tyre model by applying a combined correction factor on said function, the combined correction factor being a function of a plurality of slip stiffness correction factors, wherein each slip stiffness correction factor has a variation relative to a respective one of said plurality of parameters. - convert the obtained or generated wheel torque request to a wheel rotational speed request based on the corrected function, and - send the wheel rotational speed request to an actuator (114, 116) for providing a rotational speed of the wheel corresponding to said wheel rotational speed request wherein the control unit is configured to receive a plurality of different tyre parameter inputs, each tyre parameter input including a measured value of a respective one of a plurality of parameters which affect the longitudinal slip stiffness of the tyre, wherein the control unit is configured to correct said function in the stored tyre model by applying a combined correction factor on said function, the combined correction factor being a function of a plurality of slip stiffness correction factors, wherein each slip stiffness correction factor has a variation relative to a respective one of said plurality of parameters.