Abstract: Disclosed are a control arrangement and method for controlling wheel slip in a vehicle comprising a plurality of mechanically independent powertrains. The plurality of mechanically independent powertrains comprises, as seen in a driving direction of the vehicle, a leading powertrain, and at least one trailing powertrain. The method comprises monitoring of estimated road friction for the leading powertrain and estimated road friction for the at least one trailing powertrain. When a derivative of a difference between the estimated road friction for the leading powertrain and the estimated road friction for the at least one trailing powertrain is above a threshold and the estimated road friction for the leading powertrain is greater than the estimated road friction for the at least one trailing powertrain, the method comprises reducing a maximum allowable wheel slip for the leading powertrain and controlling the leading powertrain in dependence of the reduced maximum allowable wheel slip.

Abstract: A method is provided for controlling operation of a vehicle having at least one leading wheel axle and at least one trailing wheel axle. The method monitors a wheel slip of the wheels arranged at the at least one leading wheel axle and controls a wheel torque of the wheels arranged at the at least one trailing wheel axle based on: (i) the monitored wheel slip, (ii) a speed of the vehicle relative to the surface, and the distance between the at least one leading wheel axle and the at least one trailing wheel axle.

Abstract: A method for, during creep mode, performing gearshift in a vehicle powertrain comprising a combustion engine, a gearbox, and a clutch is provided. The method comprises, in response to a request for gearshift, disconnecting the combustion engine from the gearbox by opening the clutch. The method further comprises, when the combustion engine is disconnected from the gearbox, shifting the gearbox and controlling the speed of the combustion engine to a target speed. Said target speed constitutes a combustion engine speed corresponding a desired combustion engine torque for completing a torque ramp during closing of the clutch. The method further comprises connecting the combustion engine to the gearbox by closing the clutch. A control device configured to perform the method and a vehicle comprising the control device are also provided.

Abstract: A method of controlling operation of a vehicle is disclosed, wherein the method comprises the steps of monitoring a wheel slip of the wheels arranged at at least one leading wheel axle, and controlling a wheel torque of the wheels arranged at at least one trailing wheel axle based on the monitored wheel slip, a speed of the vehicle relative to the surface, and the distance/distances between the at least one leading wheel axle and the at least one trailing wheel axle. The present disclosure further relates to a computer program product, a computer readable medium, a control arrangement, and a vehicle.

Abstract: A method for, during creep mode, performing gearshift in a vehicle powertrain comprising a combustion engine, a gearbox, and a clutch is provided. The method comprises, in response to a request for gearshift, disconnecting the combustion engine from the gearbox by opening the clutch. The method further comprises, when the combustion engine is disconnected from the gearbox, shifting the gearbox and controlling the speed of the combustion engine to a target speed. Said target speed constitutes a combustion engine speed corresponding a desired combustion engine torque for completing a torque ramp during closing of the clutch. The method further comprises connecting the combustion engine to the gearbox by closing the clutch. A control device configured to perform the method and a vehicle comprising the control device are also provided.

Abstract: A method for accelerating a vehicle driving forward, in which the vehicle has a propulsion system including a combustion engine with an output shaft (2a), a gearbox (3) with an input shaft (3a), an electric machine (9) comprising a stator and a rotor, and a planetary gear comprising a sun gear (10), a ring gear (11) and a planet wheel carrier (12). When accelerating the vehicle the torque of the electric machine is controlled and the rotational speed of the combustion engine is controlled until the components of the planetary gear have the same rotational speed and may be interlocked.

Abstract: A method and a system for controlling a backlash of a powertrain included in a vehicle in connection with a gear shifting operation is presented. The method comprises: controlling, in connection with a first gear shifting operation, a clutch included in the powertrain to a slipping position, in which slipping position the clutch transfers a slipping torque that is less than a torque being transferred in a closed position for the clutch; analyzing a change of a rotational speed for an input shaft of a gearbox included in the powertrain; determining a position for the clutch, for which position the change of the rotational speed has a value corresponding to a backlash torque, the backlash torque having a predetermined value for eliminating the backlash; and utilizing the determined clutch position for controlling the clutch in connection with a second subsequent gear shifting operation.

Abstract: A method and a system for controlling a backlash of a powertrain included in a vehicle in connection with a gear shifting operation is presented. The method comprises: controlling, in connection with a first gear shifting operation, a clutch included in the powertrain to a slipping position, in which slipping position the clutch transfers a slipping torque that is less than a torque being transferred in a closed position for the clutch; analyzing a change of a rotational speed for an input shaft of a gearbox included in the powertrain; determining a position for the clutch, for which position the change of the rotational speed has a value corresponding to a backlash torque, the backlash torque having a predetermined value for eliminating the backlash; and utilizing the determined clutch position for controlling the clutch in connection with a second subsequent gear shifting operation.

Abstract: A method for accelerating a vehicle driving forward, in which the vehicle has a propulsion system including a combustion engine with an output shaft (2a), a gearbox (3) with an input shaft (3a), an electric machine (9) comprising a stator and a rotor, and a planetary gear comprising a sun gear (10), a ring gear (11) and a planet wheel carrier (12). When accelerating the vehicle the torque of the electric machine is controlled and the rotational speed of the combustion engine is controlled until the components of the planetary gear have the same rotational speed and may be interlocked.

Abstract: A method for accelerating a vehicle driving forward, in which the vehicle has a propulsion system including a combustion engine with an output shaft (2a), a gearbox (3) with an input shaft (3a), an electric machine (9) comprising a stator and a rotor, and a planetary gear comprising a sun gear (10), a ring gear (11) and a planet wheel carrier (12). When accelerating the vehicle the torque of the electric machine is controlled and the rotational speed of the combustion engine is controlled until the components of the planetary gear have the same rotational speed and may be interlocked.

Abstract: A method for braking a vehicle driving forward, in which the vehicle has a propulsion system including a combustion engine with an output shaft (2a), a gearbox (3) with an input shaft (3a), an electric machine (9) comprising a stator and a rotor, and a planetary gear comprising three components in the form of a sun gear (10), a ring gear (11) and a planet wheel carrier (12). The vehicle is driven with one of the components connected to an output shaft of the combustion engine rotating with a lower rotational speed than one of the components connected to the electric machine. When the vehicle is braked, the electric machine is controlled to apply a brake torque to the input shaft of the gearbox, making the rotational speed of the combustion engine increase.

Abstract: A method for driving a hybrid vehicle with a propulsion system including a combustion engine, an electric machine with a rotor and a stator and a planetary gear with three components including a sun gear, a ring gear and a planet wheel carrier, where an output shaft of the combustion engine is connected to a first component, an input shaft of a gearbox is connected to a second component and the rotor of the electric machine is connected to a third component. The vehicle is driven forward by the electric machine. The reverse gear engaged in the gearbox drives the third component of the planetary gear to rotate with a negative rotational speed while a brake brakes the first component. Thereafter, move the component brake to an open position, so that the output shaft of the combustion engine rotates with a positive rotational speed so that the combustion engine may be started.

Abstract: A method for moving off of a hybrid vehicle with a propulsion system (1) including a planetary gear with three components: a sun gear (10), a ring gear (11) and a planet wheel carrier (12). The output shaft (2a) of a combustion engine (2) is connected to a first component of an input shaft (3a) of a gearbox (3) is connected to a second component and the rotor (9b) of an electric machine (9) is connected to a third component. The propulsion system has a locking device transferable between a locking position and a releasing position respectively, in which the components rotate as a unit and with different rotation speeds respectively. The method starts from an initial state with the combustion engine idle, the locking device in the releasing position and a gear, appropriate for moving off, engaged in the gearbox.

Abstract: A drive system and a method of driving a vehicle in which the drive system includes a combustion engine, a brake device for braking the vehicle, an electric machine, an energy storage connected to the electric machine, at least one electric assembly operated by electric energy and a planetary gear including a sun wheel, a ring wheel and a planet wheel holder. A control unit is adapted to, when the vehicle is in motion, a driving moment is demanded and a coupling member is in a first position, based on a comparison between the demanded driving moment and a necessary moment required for operation of the electric assembly, control at least one of the combustion engine, the brake device and the electric machine such that desired electric energy is provided for operation of the electric assembly.

Abstract: A method for controlling a drive system of a vehicle. The drive system includes a combustion engine (2) with an output shaft (2a), a gearbox (3) with an input shaft (3a), an electrical machine (9) that comprises a stator (9a) and a rotor (9b), and a planetary gear that comprises a sun gear (10), a ring gear (11) and a planet wheel carrier (12). If the torque from the combustion engine and the electrical machine is sufficient for the operation of the vehicle with the planetary gear in the released state, and if the fuel consumption of the vehicle with the planetary gear in the released state is lower than in the locked states, then control the electrical machine and the combustion engine so that the requested torque is provided while the planetary gear is in the released state. Otherwise the planetary gear is arranged in the locked state and the method is terminated.

Abstract: A method for gearchange in a gearbox of a vehicle driving, said vehicle having a propulsion system comprising a combustion engine with an output shaft (2a), a gearbox (3) with an input shaft (3a), an electric machine (9) comprising a stator and a rotor, and a planetary gear comprising a sun gear (10), a ring gear (11) and a planet wheel carrier (12). The gearchange is carried out with the components of the planetary gear allowed to rotate with different rotational speeds and is finished by interlocking them. The combustion engine is controlled with respect to rotational speed during the gearchange towards the rotational speed required for the interlocking.

Abstract: A method for driving a vehicle having a propulsion system comprising a combustion engine with an output shaft, a gearbox with an input shaft, an electric machine comprising a stator and a rotor, and a planetary gear comprising a sun gear, a ring gear and a planet wheel carrier. The vehicle is driven with the members of the planetary gear interlocked. The planetary gear is brought to the releasing position by controlling the torque of the electric machine and of the combustion engine towards torque balance in the planetary gear.

Abstract: A method for controlling a drive system of a vehicle, the drive system including a combustion engine with an output shaft, a gearbox with an input shaft, an electrical machine including a stator and a rotor, and a planetary gear with a sun gear, a ring gear and a planet wheel carrier. The combustion engine may be active or inactive. A braking device may be active or passive. The planetary gear may be released or locked. The method includes arranging the planetary gear in the released state, the combustion engine in inactive state, the braking device in active state, and, when information on a requested torque for the operation of the vehicle is received, controlling the electrical machine to provide the requested torque with the combustion engine inactive, the braking device active and the planetary gear released.

Abstract: A method for braking a vehicle driving forward towards stop. The vehicle has a propulsion system including a combustion engine with an output shaft (2a), a gearbox (3) with an input shaft (3a), an electric machine (9) comprising a stator and a rotor, and a planetary gear comprising a sun gear (10), a ring gear (11) and a planet wheel carrier (12). When braking the vehicle, a reverse gear of the gearbox is engaged and the electric machine is controlled to apply brake torque requested to the input shaft of the gearbox.

Abstract: A method for controlling a drive system of a vehicle, the drive system including a combustion engine with an output shaft, a gearbox with an input shaft, an electrical machine including a stator and a rotor, and a planetary gear with a sun gear, a ring gear and a planet wheel carrier. The combustion engine may be active or inactive. A braking device may be active or passive. The planetary gear may be released or locked. The method includes arranging the planetary gear in the released state, the combustion engine in inactive state, the braking device in active state, and, when information on a requested torque for the operation of the vehicle is received, controlling the electrical machine to provide the requested torque with the combustion engine inactive, the braking device active and the planetary gear released.