CONTROL DEVICE AND METHOD FOR CONTROLLING A VEHICLE POWERTRAIN TO OVERCOME, OR AVOID, A COG-TO-COG CONDITION, COMPUTER PROGRAM, COMPUTER-READABLE MEDIUM AND VEHICLE

A control device and a method for controlling a vehicle powertrain to overcome, or avoid, a cog-to-cog condition during gear shifting is provided. The method comprises, when an input shaft of the gearbox is rotating, controlling a synchromesh arrangement so as to induce a difference in rotational speed between a first gear wheel and a first coupling sleeve arranged to lock the first gear wheel to a main shaft of the gearbox by at least partly engaging the first gear wheel or a second gear wheel to the input shaft. Furthermore, a computer program, a computer-readable medium and a vehicle are provided.