In this paper we address the problem of motion planning and control at the limits of handling, under locally varying traction conditions. We propose a novel solution method where locally varying traction is represented by time-varying tire force constraints. A constrained finite time optimal control problem is solved in a receding horizon fashion, imposing these time-varying constraints. Furthermore, we employ a sampling augmentation procedure to address the problems of infeasibility and sensitivity to local minima that arises when the constraint configuration is altered. We validate the proposed algorithm on a Volvo FH16 heavy-duty vehicle, in a range of critical scenarios. Experimental results indicate that traction adaptation improves the vehicle’s capacity to avoid accidents, both when adapting to low and high local traction.