The present disclosure relates to a method for operating a vehicle based on wheel torque. According to a first aspect, this disclosure proposes a method for operating a vehicle comprising a drivetrain. The method comprises determining, based on angular positions of one or more shafts of the drivetrain at different points along the drivetrain, a windup of the one or more shafts. The method further comprises estimating a wheel torque of one or more wheels arranged on a driven wheel axle of the vehicle based on the determined windup and a stiffness constant representing characteristics of the one or more shafts in-between the different points and using the estimated wheel torque while operating the vehicle. The disclosure also relates to corresponding sensor arrangement and computer program, and to a vehicle comprising the sensor arrangement.

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.

A computer system has processing circuitry to receive an indication of a driving situation where it would be desirable to disengage a differential lock on the drive axle; receive a first indication of a first road friction on a left side of the vehicle and a second indication of a second road friction on a right side of the vehicle; determine, based on the first and second indications, a first braking setting for a left side wheel and a second braking setting for a right side wheel; and change driving mode for the vehicle by controlling the differential lock to disengage and controlling a braking system of the vehicle to brake the left side wheel with the first braking setting, and to brake the right side wheel with the second braking setting.