A vehicle having an electric machine, a first half shaft, a second half shaft, a steering wheel, and a controller. The first and second half shafts are configured to deliver torque from the electric machine to first and second wheels, respectively. The controller is programmed to, in response to (i) locking the first half shaft to the second half shaft, (ii) displacement of at least one of the first and second half shafts or the steering wheel, and (iii) a torque command to the electric machine to a desired value resulting in a torque distribution to the first and second half shafts exceeding a torque capacity of at least one of the first and second half shafts, truncate the torque of the electric machine to less than the desired value.

Aspects of the present invention relate to a controller for controlling a differential lock system of a vehicle with a plurality of wheels. The controller comprises one or more processors collectively configured to receive a wheel status information specific to at least two wheels. Further, it is configured to determine, based at least on the wheel status information, a differential lock setpoint, indicating whether a differential lock should be engaged or disengaged. Also, it is configured to output the differential lock setpoint to the differential lock system to control the differential lock system to engage or disengage the differential lock based on the differential lock setpoint. The invention further relates to a differential lock system, an axle assembly, a method and computer readable instructions.

Disclosed are implementations of devices, systems, and methods related to a differential lock for independent traction wheels. In one implementation, a vehicle is provided. The vehicle may include first and second traction wheels, a speed input, a steering input, and a differential lock input. It may further include a vehicle control unit with memory and a processor, capable of commanding differential speeds based on speed and direction information, detecting differential lock requests, and commanding equal speeds during lock requests. The control unit may also detect requests to stop the differential lock and limit vehicle speed during lock periods. The vehicle may have a front, rear, and two sides, with traction wheels located opposite each other. The speed input may be user-operated, and the steering input may be a sensor providing information about a steered wheel. The differential lock input may be user operated.