Abstract: A control arrangement and a method for controlling vehicle speed of a vehicle using a cruise control system are provided. The vehicle comprises a power take-off connected to a powertrain of the vehicle. The method comprises a step of, in response to a determination that the power take-off is subjected to a load, predicting future braking torque resulting from the power take-off load. The method further comprises a step of determining a planned driving strategy for an upcoming road section taking into account the predicted future braking torque. The method further comprises controlling the powertrain in accordance with the planned driving strategy, thereby controlling vehicle speed of the vehicle.

Abstract: A control arrangement and a method for controlling vehicle speed of a vehicle using a cruise control system are provided. The vehicle comprises a power take-off connected to a powertrain of the vehicle. The method comprises a step of, in response to a determination that the power take-off is subjected to a load, predicting future braking torque resulting from the power take-off load. The method further comprises a step of determining a planned driving strategy for an upcoming road section taking into account the predicted future braking torque. The method further comprises controlling the powertrain in accordance with the planned driving strategy, thereby controlling vehicle speed of the vehicle.

Abstract: A method in a control arrangement of a vehicle and a control arrangement for a vehicle for downshifting gears in an uphill slope are presented. The method comprises, when the vehicle is travelling in an uphill slope using an initial gear of the vehicle's automated manual transmission gearbox: simulating at least one speed profile for a downshift to, and a usage of, at least one gear; determining that a minimal speed of each one of the at least one simulated speed profile has a value indicating that the actual speed of the vehicle will be less than or equal to zero in the uphill slope; opening a clutch before is reduced to a value less than zero; activating at least one vehicle brake; shifting vehicle's automated manual transmission gearbox to a start gear; closing the clutch; and deactivating the at least one vehicle brake.

Abstract: A method and a system for a vehicle comprising: one or more power sources including at least one electrical machine; and a drivetrain for transferring torque between the one or more power sources and at least one drive wheel of the vehicle. The method comprises: controlling, when no positive drive torque (Tdrive) is transferred from the drivetrain to the at least one drive wheel, the at least one electrical machine to provide a backlash torque (Tbacklash) to the drivetrain, the backlash torque (Tbacklash) having a controlled value for turning the drivetrain if there is a backlash present in the drivetrain.

Abstract: A method in a control arrangement of a vehicle and a control arrangement for a vehicle for downshifting gears in an uphill slope are presented. The method comprises, when the vehicle is travelling in an uphill slope using an initial gear of the vehicle's automated manual transmission gearbox: simulating at least one speed profile for a downshift to, and a usage of, at least one gear; determining that a minimal speed of each one of the at least one simulated speed profile has a value indicating that the actual speed of the vehicle will be less than or equal to zero in the uphill slope; opening a clutch before is reduced to a value less than zero; activating at least one vehicle brake; shifting vehicle's automated manual transmission gearbox to a start gear; closing the clutch; and deactivating the at least one vehicle brake.

Abstract: A method and a system for a vehicle comprising: one or more power sources including at least one electrical machine; and a drivetrain for transferring torque between the one or more power sources and at least one drive wheel of the vehicle. The method comprises: controlling, when no positive drive torque (Tdrive) is transferred from the drivetrain to the at least one drive wheel, the at least one electrical machine to provide a backlash torque (Tbacklash) to the drivetrain, the backlash torque (Tbacklash) having a controlled value for turning the drivetrain if there is a backlash present in the drivetrain.