Method for updating at least one vehicle model parameter and at least one tire parameter in at least one chassis control unit (BCU, TCU, SCU) of a vehicle, based on tire sensor information collected by a tire sensor placed on a tire, the method comprising the steps of: - collecting tire sensor information; - updating the at least one vehicle model parameter based on updating at least one tire parameter, updating one tire parameter being based on the tire sensor information characterized in that at least one chassis control unit is the transmission control unit, and wherein tire sensor information is collected by tire sensors placed on at least two tires belonging to a first axle of the vehicle, and on at least two tires belonging to at least one second axle of the vehicle, and wherein at least one vehicle model parameter is the desired power distribution on the first and second axle of the vehicle, and wherein at least one tire parameter is a wear level, the step of updating the desired power distribution being based on updating the estimated wear level of the at least two tires belonging to the first axle and of the at least two tires belonging to the second axle, updating the estimated wear level being based on the tire wear information collected on the at least two tires belonging to the first axle and of the at least two tires belonging to the second axle, the step of updating the desired power distribution further comprising the step of: - determining from the tire wear information at least one determined axle among the first axle and the at least one second axle, the estimated wear level of the tires of the at least one determined axle being smaller, respectively higher, than the estimated wear level of tires belonging to axles among the first axle and the at least one second axle, other than the determined axle; - increasing, respectively reducing, the desired power sent to the at least one determined axle. - collecting tire sensor information; - updating the at least one vehicle model parameter based on updating at least one tire parameter, updating one tire parameter being based on the tire sensor information characterized in that at least one chassis control unit is the transmission control unit, and wherein tire sensor information is collected by tire sensors placed on at least two tires belonging to a first axle of the vehicle, and on at least two tires belonging to at least one second axle of the vehicle, and wherein at least one vehicle model parameter is the desired power distribution on the first and second axle of the vehicle, and wherein at least one tire parameter is a wear level, the step of updating the desired power distribution being based on updating the estimated wear level of the at least two tires belonging to the first axle and of the at least two tires belonging to the second axle, updating the estimated wear level being based on the tire wear information collected on the at least two tires belonging to the first axle and of the at least two tires belonging to the second axle, the step of updating the desired power distribution further comprising the step of: - determining from the tire wear information at least one determined axle among the first axle and the at least one second axle, the estimated wear level of the tires of the at least one determined axle being smaller, respectively higher, than the estimated wear level of tires belonging to axles among the first axle and the at least one second axle, other than the determined axle; - increasing, respectively reducing, the desired power sent to the at least one determined axle. - determining from the tire wear information at least one determined axle among the first axle and the at least one second axle, the estimated wear level of the tires of the at least one determined axle being smaller, respectively higher, than the estimated wear level of tires belonging to axles among the first axle and the at least one second axle, other than the determined axle; - increasing, respectively reducing, the desired power sent to the at least one determined axle.