Patent ID: 8838356

Claim:
A method for controlling a vehicle having a pressure-medium-actuated brake device, which includes wheel brakes and brake circuits on each side, on only at least one rear axle, and having a drive engine which drives the rear wheels of the at least one rear axle, the rear wheels being optionally or automatically coupled to or decoupled from front wheels of a front axle to transmit at least one of driving power and braking power, and the brake device being brake slip controlled, the method comprising: performing, sing a control unit, one of the following: if the front wheels are decoupled from the rear wheels, controlling, via the control unit, individually for each side a brake slip at the wheel brakes of the rear axle, if the front wheels are coupled to the rear wheels and if no brake slip, which differs from an allowed brake slip or from an allowed brake slip range, is detected at at least one front wheel, controlling, via the control unit, individually for each side the brake slip at the wheel brakes of the rear axle, and if the front wheels are coupled to the rear wheels and if a brake slip, which differs from an allowed brake slip or from the allowed brake slip range, is detected at all the front wheels, controlling, via the control unit, the brake slip at at least one wheel of the rear axle so that at least one front wheel with the allowed brake slip or with a brake slip within the allowed brake slip range is braked; wherein for each of the prior conditions, including: (i) if the front wheels are decoupled from the rear wheels, (ii) if the front wheels are coupled to the rear wheels and if no brake slip, which differs from an allowed brake slip or from the allowed brake slip range, is detected at at least one front wheel, and (iii) if the front wheels are coupled to the rear wheels and if a brake slip, which differs from the allowed brake slip or from the allowed brake slip range, is detected at all the front wheels, the control unit is configured to perform, depending on the condition, each of the following: (a) control individually for each side the brake slip at the wheel brakes of the rear axle, (b) control individually for each side the brake slip at the wheel brakes of the rear axle, and (c) control the brake slip at the at least one wheel of the rear axle so that at least one front wheel with the allowed brake slip or with the brake slip within the allowed brake slip range is braked.