Abstract: A method of controlling operation of a vehicle is disclosed, wherein the vehicle comprises an auxiliary braking system and a number of wheel axles each comprising wheels and wheel brakes controllable to brake the wheels, and wherein one or more of the number of wheel axles is a liftable wheel axle. The method comprises the step of controlling at least one of the one or more liftable wheel axles from a lifted position to a lowered position if the at least one liftable wheel axle is in the lifted position and a ratio between an estimated braking capacity of the auxiliary braking system and a current or impending braking need of the vehicle is below a first threshold ratio. The present disclosure further relates to a computer program, a computer-readable medium, a control arrangement, and a vehicle.

Abstract: Control arrangement and method for reducing backlash in a vehicle, said vehicle comprising a first powertrain configured to provide propulsion torque to one or more first drive wheels of the vehicle, and a second powertrain configured to provide propulsion torque to one or more second drive wheels of the vehicle, wherein the first and second powertrains are mechanically separated from each other. The method comprises, when a requested net torque for the vehicle is within the deliverable torque of one of the first powertrain and the second powertrain, controlling the first powertrain to deliver a first torque to said one or more first drive wheels and the second powertrain to deliver a second torque to said one or more second drive wheels, the first torque and the second torque having opposite torque directions.

Abstract: A method, performed by a control arrangement, for heating a powertrain and/or a subsystem of a vehicle. Said vehicle comprises an electrical machine configured to provide propulsion power to one or more drive wheels of the vehicle and/or power a power take-off load. The method comprises, when the electrical machine is disconnected from said one or more drive wheels of the vehicle and/or said power take-off load, controlling the electrical machine so as to oscillate between a first rotational speed and a second rotational speed to thereby generate heat.

Abstract: A method performed by a control arrangement for powering a vehicle, the vehicle comprising at least one first electric machine configured to provide a power to a first vehicle wheel, and at least one second electric machine configured to provide a power to a second vehicle wheel. The at least one first electric machine and the at least one second electric machine in the vehicle are interconnected by means of a hydraulic connection which enables the utilization of the available power from the electric machines by transferring excess power provided by one or more electric machines to a drive wheel or axle where additional power is required. The invention also relates also to a control arrangement, a vehicle comprising the control arrangement, and a computer program.

Abstract: A control device and a method for controlling a vehicle is provided. The vehicle comprises an energy storage device, an electric motor, and at least one service brake configured to brake a vehicle wheel. The method comprises, in case it is predicted that the energy storage device will have an insufficient capacity for a desired regenerative braking power during an upcoming braking event, applying a braking force by activating the service brake. The service brake is activated either simultaneously with application of a propulsion force by the electric motor, or in a plurality of consecutive brake phases during which a propulsion by the electric motor is temporarily interrupted, the brake phases separated by a vehicle acceleration phase during which a propulsion force is applied by the electric motor.

Abstract: The invention relates to methods, systems, and computer program products for controlling a catalytic converter system in a vehicle. The method comprises predicting the temperature of at least one element of the catalytic converter system based on at least a model of the catalytic converter and on an expected driving of the vehicle. The method further comprises controlling the input flow to the catalytic converter system based on the predicted temperature so as to optimize at least one property of the vehicle.