Patent ID: 11926326
Assignee: VOLVO TRUCK CORPORATION
Field: Transport (Mechanical engineering)
Classification: CPC B  Y | IPC B

Claim 10:
11. A method executed in a vehicle control unit, VCU, for controlling wheel slip of a vehicle, wherein the vehicle comprises at least two wheels driven by at least one primary actuator via an open differential, the method comprising:
requesting the primary actuator to rotate at a speed resulting in a slip λem of the primary actuator,
determining a signed wheel slip limit λlim by adding a configurable value to the slip λem of the primary actuator, such that λlim>λem, and
controlling said at least two wheels of the vehicle to rotate at wheel speeds resulting in respective wheel slips λl, λr below the signed wheel slip limit λlim, wherein each one of λl, λr and λem are signed numerical values.