A method for controlling a wheel axle assembly of a vehicle, said vehicle comprising a vehicle body with a longitudinal axis extending in a longitudinal direction, a transversal axis extending in a transversal direction and a vertical axis extending in a vertical direction, said longitudinal axis, said transversal axis and said vertical axis being perpendicular to each other, wherein said longitudinal direction corresponds to an intended direction of travel of said vehicle and said vertical direction being parallel to a vertical line when said vehicle is positioned on a flat horizontally extending surface, said vehicle body comprising a vehicle body centre plane extending along said longitudinal axis and said vertical axis and separating said vehicle body into two body halves (15, 16), said wheel axle assembly comprising a wheel axle and at least a first and a second wheel, said first and second wheels (22, 24) being located on opposite sides of said vehicle body centre plane, said wheel axle having a wheel axle centreline extending in a direction between said first and second wheels (22, 24), said wheel axle assembly being pivotally connected to said vehicle body around a pivot axis such that a wheel axle angle, being an angle between said wheel axle centreline and a line extending parallel to said transversal axis, can be varied, said vehicle further comprising an adjustable reaction actuator connecting a portion of said vehicle body to a portion of said wheel axle whereby a condition of said adjustable reaction actuator controls said wheel axle angle, said method comprising determining a current vehicle operating condition and controlling said adjustable reaction actuator to assume a low roll resistance condition on the basis of the determined vehicle operating condition, said low roll resistance condition resulting in a rolling resistance of said wheel axle assembly being equal to or below a desired rolling resistance value, characterized in that determining said current vehicle operating condition comprises determining a load imparted on said adjustable reaction actuator, wherein said method comprises varying the condition of said adjustable reaction actuator and detecting a resulting load imparted on said adjustable reaction actuator until said resulting load imparted on said adjustable reaction actuator is equal to or below a desired load value. said vehicle comprising a vehicle body with a longitudinal axis extending in a longitudinal direction, a transversal axis extending in a transversal direction and a vertical axis extending in a vertical direction, said longitudinal axis, said transversal axis and said vertical axis being perpendicular to each other, wherein said longitudinal direction corresponds to an intended direction of travel of said vehicle and said vertical direction being parallel to a vertical line when said vehicle is positioned on a flat horizontally extending surface, said vehicle body comprising a vehicle body centre plane extending along said longitudinal axis and said vertical axis and separating said vehicle body into two body halves (15, 16), said wheel axle assembly comprising a wheel axle and at least a first and a second wheel, said first and second wheels (22, 24) being located on opposite sides of said vehicle body centre plane, said wheel axle having a wheel axle centreline extending in a direction between said first and second wheels (22, 24), said wheel axle assembly being pivotally connected to said vehicle body around a pivot axis such that a wheel axle angle, being an angle between said wheel axle centreline and a line extending parallel to said transversal axis, can be varied, said vehicle further comprising an adjustable reaction actuator connecting a portion of said vehicle body to a portion of said wheel axle whereby a condition of said adjustable reaction actuator controls said wheel axle angle, said method comprising determining a current vehicle operating condition and controlling said adjustable reaction actuator to assume a low roll resistance condition on the basis of the determined vehicle operating condition, said low roll resistance condition resulting in a rolling resistance of said wheel axle assembly being equal to or below a desired rolling resistance value, characterized in that determining said current vehicle operating condition comprises determining a load imparted on said adjustable reaction actuator, wherein said method comprises varying the condition of said adjustable reaction actuator and detecting a resulting load imparted on said adjustable reaction actuator until said resulting load imparted on said adjustable reaction actuator is equal to or below a desired load value.