A motor vehicle braking system including at least one electrically actuated parking brake (FP) to be positioned at a wheel, a control unit (UC) configured for generating a command for the parking brake (FP) to apply parking braking or to interrupt the application of parking braking at a first intensity following a first request, wherein the control unit (UC) is also configured for generating a command for the parking brake (FP) to apply parking braking at a second intensity in response to a second request issued after the first request.

The present invention relates to a method (M1) performed by a control device (100) for controlling driving operation of an articulated tracked vehicle (V). Said articulated tracked vehicle (V) comprises a drive arrangement (120) for operating the vehicle. The articulated tracked vehicle (V) comprises a first vehicle unit (V1) and a second vehicle unit (V2) steerably connected to the first vehicle unit (V1) by means of a steering device (D) for mutually pivoting said vehicle units (V1, V2). The mutual pivoting comprises roll movement about a roll axis (X). The steering device (D) comprises a roll arrangement (A2) for said roll movement. The method comprises the step of controlling (S1) the roll arrangement (A2) of the steering device (D) so as to control mutual roll movement of said vehicle units (V1, V2). The present invention also relates to a control device for controlling driving operation of an articulated tracked vehicle. The present invention also relates to a computer program and a computer readable medium.