A METHOD FOR OPERATING A VEHICLE

The invention relates to a method for operating a vehicle (), wherein the vehicle () comprises: a driveline () configured to provide a driving power to at least one wheel () of the vehicle () for propulsion of the vehicle (); and a wheel brake system () configured to brake the vehicle (), wherein the method comprises the steps of: receiving (S) a control signal indicative of a request for acceleration or deceleration of the vehicle (), wherein the acceleration or deceleration control signal is generated by an accelerator device, such as an accelerator pedal, configured to be acted upon by a driver of the vehicle (); and controlling (S) the driveline () in response to the acceleration or deceleration control signal. The method comprises the steps of: providing (S) an acceleration or deceleration threshold limit representing i) the highest vehicle acceleration that can be allowed for the received acceleration control signal in the current circumstances, or ii) the lowest vehicle deceleration that can be allowed for the received deceleration control signal in the current circumstances; determining (S) a resulting vehicle acceleration or deceleration that is or will be the result from the step of controlling the electric driveline in response to the acceleration or deceleration control signal; comparing (S) the resulting vehicle acceleration or deceleration with the corresponding acceleration or deceleration threshold limit and determining whether the resulting vehicle acceleration is or will be higher than the acceleration threshold limit or whether the resulting vehicle deceleration is or will be lower than the deceleration threshold limit; and when the resulting vehicle acceleration is or will be higher than the acceleration threshold limit or when the resulting vehicle deceleration is or will be lower than the deceleration threshold limit; applying (S) the wheel brake system () so as to reduce an actual vehicle acceleration or increase an actual vehicle deceleration towards the corresponding acceleration or deceleration threshold limit.