A method of performing a test on a tyre to record data for parameterisation of a tyre model, wherein the method is performed on a tyre mounted on a wheel and supported on a mobile axle with respect to a movable testing surface. The method includes supporting the tyre with respect to the movable test surface such that the slip angle of the tyre is controllable and such that the loading on the tyre is controllable, steering the tyre with respect to the test surface so as to vary the tyre slip angle, and applying load to the tyre in dependence on tyre slip angle so as to simulate real life tyre loading conditions. Aspects and embodiments of the invention also provide a computer program product and a machine readable medium. Beneficially, the method results in a tyre being tested under more realistic conditions since the applied tyre loading varies in dependence on the tyre slip angle, thereby mimicking the loading on the tyre experienced as vehicle weight transfers during cornering. This ensures that accurate tyre performance data representing the real-life performance envelope of the tyre is captured during testing, whilst test time can be saved by not testing load cases which the tyre will never experience on a real vehicle.