Emission control technologies and propulsion systems are developed to decrease exhaust particle emissions. However, more work must be done on non-exhaust traffic related sources such as tyre wear. The driving conditions are the most dominant regarding tyre wear. The advent of automated vehicles enables automotive engineers to control the vehicle for further decreasing tyre wear. This work presents the formulation of an optimal control problem for the trajectory optimisation of long haul articulated vehicles to minimise tyre wear in loaded and unloaded conditions. The conclusions pave the way for getting closer to the zero-emission goal.