Method for determining the load condition of a vehicle (60) moving at non-zero speed, the vehicle being equipped with a plurality of tire-wheel assemblies (41-42, 51-52) mounted on at least two axles and with devices that enable determination of the vehicle's speed and the rotation frequencies or speeds and actual inflation pressures of at least two tire-wheel assemblies mounted on two different axles of the vehicle, the method comprising the following stages: (A) determination of the inflation pressures and rotation frequencies of two tire-wheel assemblies mounted on two different axles; (B) calculation of the load difference between the two tire-wheel assemblies from the vehicle's speed and the rotation frequencies of the two tire-wheel assemblies, taking into account the actual inflation pressures; (C) determination of the load condition by comparing the calculated load difference with at least one predetermined threshold.