In a method for controlling a vehicle with a drive system comprising an output shaft of a combustion engine and a planetary gear with a first and a second electrical machine, connected via their rotors to the components of the planetary gear, the combustion engine is started while the vehicle is driven by ensuring that the rotor of the second electrical machine is connected with the output shaft of the combustion engine, and controlling such electrical machine's rotational speed towards the combustion engine's idling speed, whereupon fuel injection into the combustion engine is carried out to start the latter.

Disclosed is a method for control of a vehicle with a drive system comprising a planetary gear and a first and second electrical machine, connected with their rotors to the components of the planetary gear, a braking of the vehicle towards stop occurs by way of a distribution of the desired braking torque between the first and the second electrical machines, and wherein such electrical machines are controlled to transmit a total torque to an output shaft of the planetary gear, which corresponds to the desired braking torque at least to one predetermined low speed limit, before the vehicle stops.

A method for operating a motor vehicle (1) having at least one driven axle (3) with a locking differential (10a), where when the motor vehicle (1) is driving and the locking differential (10a) concerned is engaged on at least one driven axle (3), it is checked whether the motor vehicle is driving round a curve. If it is found that the motor vehicle is driving round a curve, the engaged locking differential (10a) is actuated to disengage it and it is checked whether the locking differential (10a) concerned has in fact been disengaged. If it is found that the locking differential (10a) concerned has not been disengaged, the wheel of the driven axle (3) concerned on the outside of the curve is braked.

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 vehicle control device for a vehicle includes: one or more processors; and one or more memories coupled to the one or more processors. The one or more processors are configured to execute a process including: deriving a target yaw rate based on a steering angle obtained by a steering angle sensor of the vehicle; deriving a deviation of an actual yaw rate, obtained by a yaw rate sensor of the vehicle, relative to the target yaw rate; when the deviation is not a value representing overshoot where the actual yaw rate is substantially higher than the target yaw rate, preventing execution of differential limiting by a differential limiting device of the vehicle; and when the deviation is a value representing the overshoot, causing execution of differential limiting by the differential limiting device.

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.

A control system for controlling a limited-slip differential (LSD) of a vehicle, the vehicle having an engine and left and right ground-engaging elements, the vehicle having the LSD operatively connectable to a driveshaft and to the left and right ground-engaging elements, left and right suspension assemblies connected to the left and right ground-engaging elements, the LSD being adapted for transferring torque from the driveshaft to the left and right ground-engaging elements. The control system includes at least one sensor determining indications of positions of the right and left suspensions or ground-engaging members; and a control unit operatively connected to the LSD and to the sensor, the control unit being configured to execute: receiving sensor signals from the sensor, generating a control signal at least partly based on the sensor signals, and controlling selective locking of the LSD based on the control signal.

A computer system has processing circuitry configured to handle traction control of a vehicle operating on a surface area is provided. The processing circuitry obtains wheel information indicative of a motion of at least one wheel of the vehicle. The processing circuitry is configured to, based on the obtained wheel information, determine the surface area to be of a surface area type out of a set of surface area types. The processing circuitry is configured to, based on the surface area type, determine a traction control procedure of the vehicle. The traction control procedure comprises a brake control procedure, a differential locking procedure, or a blend of the brake control procedure and the differential locking procedure. The processing circuitry triggers the vehicle to perform the determined traction control procedure.

A vehicle control device for a vehicle includes: one or more processors; and one or more memories coupled to the one or more processors. The one or more processors are configured to execute a process including: deriving a target yaw rate based on a steering angle obtained by a steering angle sensor of the vehicle; deriving a deviation of an actual yaw rate, obtained by a yaw rate sensor of the vehicle, relative to the target yaw rate; when the deviation is not a value representing overshoot where the actual yaw rate is substantially higher than the target yaw rate, preventing execution of differential limiting by a differential limiting device of the vehicle; and when the deviation is a value representing the overshoot, causing execution of differential limiting by the differential limiting device.