A method of determining at least one parameter representative of at least one interaction along a longitudinal direction between a tyre and the ground, includes identifying a first parameter representative of a radial deformation of the tyre; determining a first and a second value of the first parameter in respective neighbourhoods of a first and a second longitudinal end of a footprint area defined between the tyre and ground; calculating a linear combination of the values thereby obtaining a second parameter; determining a third parameter representative of an angular velocity of the tyre; calculating a ratio between the second and third parameters; and calculating a main parameter, starting from the ratio, according to an algorithm, which main parameter is representative of a longitudinal interaction between the tyre and the ground.