Abstract: A control system for autonomous drive of a heavy-duty vehicle, comprising an autonomous drive, AD, controller configured with a trajectory tracking function arranged to track a desired vehicle trajectory is provided. A first vehicle model models a response by the vehicle to a requested steering angle. The AD controller generates a steering angle request based on the desired vehicle trajectory and on the first vehicle model. The control system includes a vehicle motion management, VMM, function arranged to receive the steering angle request from the AD controller, where the VMM function comprises a second vehicle model configured to be aligned with the first vehicle model, where the VMM function is arranged to obtain a desired vehicle behavior based on a response of the second vehicle model to the steering angle request, where the VMM function is arranged to determine motion support device control set points in dependence of the desired vehicle behavior.