A METHOD FOR CONTROLLING PROPULSION OF A HEAVY-DUTY VEHICLE

A method for controlling propulsion of a heavy-duty vehicle (100, 110, 120), where the heavy-duty vehicle (100, 110, 120) comprises a drive shaft connected to a differential drive arrangement arranged to evenly distribute torque between a left wheel and a right wheel of a driven axle, the method comprisingconfiguring a nominal shaft slip (λ0) of the drive shaft in dependence of a desired longitudinal wheel force (Fx) to be generated by the driven axle, wherein a shaft slip (λ) is indicative of a difference between a current vehicle velocity (vx) and a vehicle velocity corresponding to the rotation speed (ω0) of the drive shaft,obtaining a rotation speed (ω1) of the left wheel and a rotation speed (ω2) of the right wheel, as function of a current shaft slip (λ) of the driven axle,estimating a peak shaft slip value (λmax) associated with an open differential peak longitudinal force (Fx,max) of the driven axle, based on the current shaft slip (λ) and on the corresponding obtained speeds (ω1, ω2) of the left and right wheels, and controlling propulsion of the heavy-duty vehicle unit (100, 110, 120) by setting the current shaft slip (λ) of the drive shaft based on the configured nominal shaft slip (λ0) adjusted in dependence of the estimated peak shaft slip value (λmax).