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 monitoring method and a monitoring arrangement, wherein: (a) first comparison value is established based on information from a sensor as to the measured magnitude of a parameter related to exhaust gases flowing out of an exhaust gas aftertreatment appliance included in an exhaust aftertreatment system; b) a second comparison value corresponding to the first comparison value is established based on a value representing the magnitude of said parameter calculated on the basis of a calculation model; c) a difference value representing the difference between said comparison values is established; d) steps a)-c) are repeated during a certain period of time and a variance value representing the variance of the difference value during this period of time is established; and e) the variance value is compared with a given threshold value for generation of information regarding the functioning of the sensor or the system.

Abstract: A monitoring method and a monitoring arrangement, wherein: (a) first comparison value is established based on information from a sensor as to the measured magnitude of a parameter related to exhaust gases flowing out of an exhaust gas aftertreatment appliance included in an exhaust aftertreatment system; b) a second comparison value corresponding to the first comparison value is established based on a value representing the magnitude of said parameter calculated on the basis of a calculation model; c) a difference value representing the difference between said comparison values is established; d) steps a)-c) are repeated during a certain period of time and a variance value representing the variance of the difference value during this period of time is established; and e) the variance value is compared with a given threshold value for generation of information regarding the functioning of the sensor or the system.

Abstract: A method and a device for monitoring the functioning of an SCR catalyst in the exhaust line of a combustion engine, whereby a temperature value representing the temperature of exhaust gases flowing out of the SCR catalyst is calculated by use of a calculation model and is compared with a temperature value measured in the exhaust line downstream from the SCR catalyst. A computer program comprising program codes for implementation of the method, a medium readable by computer and having stored on it a computer program which is intended to enable a computer to implement said method, and an electronic control unit.