Method for controlling a differential braking arrangement

1. A method for controlling a differential braking arrangement of a vehicle, the vehicle comprising at least one auxiliary braking arrangement and at least one differential braking arrangement, the auxiliary braking arrangement and the differential braking arrangement being connected to a pair of propelled wheels of the vehicle, wherein the differential braking arrangement is arranged to control a relative rotational speed between the pair of propelled wheels, wherein the method comprises the steps of:

receiving a signal indicative of a downhill slope for a road ahead of the vehicle;

determining an inclination of the downhill slope;

determining a braking power needed for the at least one auxiliary braking arrangement for preventing the vehicle speed of the vehicle from exceeding a predetermined speed limit when driving at the downhill slope; and

engaging the at least one differential braking arrangement for reducing the relative rotational speed between the propelled wheels when the determined braking power of the at least one auxiliary braking arrangement is higher than a predetermined threshold limit, wherein the at least one differential braking arrangement is engaged when the vehicle is positioned at a predetermined distance from the downhill slope.

2. The method according to claim 1 , further comprising the step of:

engaging the at least one auxiliary braking arrangement when the vehicle is driven at the downhill slope after the differential braking arrangement is engaged.

3. The method according to claim 2 , further comprising the steps of:

disengaging the at least one auxiliary braking arrangement after the vehicle has driven at the downhill slope; and subsequently

disengaging the at least one differential braking arrangement.

4. The method according to claim 1 , wherein the step of engaging the at least one differential braking arrangement is preceded by the steps of:

determining that the at least one auxiliary braking arrangement is engaged and the vehicle is driven at a road having an inclination lower than a predetermined angular threshold limit; and

disengaging the at least one auxiliary braking arrangement before the vehicle is positioned at the predetermined distance from the downhill slope.

5. The method according to claim 1 , further comprising the steps of:

determining a weight of the vehicle;

determining a current vehicle speed; and

determining the braking power based on the determined weight of the vehicle and the current vehicle speed.

6. The method according to claim 1 , wherein the predetermined threshold limit for the braking power is based on at least one of a vehicle weight, current vehicle speed and inclination of the downhill slope.

7. The method according to claim 1 , wherein the predetermined threshold limit for the braking power is based on at least one of an ambient temperature outside the vehicle and a road surface characteristic of the downhill slope.

8. The method according to claim 1 , wherein the at least one differential braking arrangement comprises a dog clutch, wherein the relative rotational speed between the propelled wheels is substantially zero when engaging the differential braking arrangement.

9. The method according to claim 1 , wherein the at least one differential braking arrangement comprises a friction clutch, the at least one differential braking arrangement being engageable in a fully engaged position or a partly engaged position.

10. The method according to claim 1 , wherein the step of determining the inclination of the downhill slope is determined based a signal received from logged road data or a navigation system.

11. A system for controlling a differential braking arrangement of a vehicle, the system being connectable to a vehicle comprising at least one auxiliary braking arrangement and at least one differential braking arrangement, the auxiliary braking arrangement and the differential braking arrangement being connected to a pair of propelled wheels of the vehicle, wherein the differential braking arrangement is arranged to control a relative rotational speed between the pair of propelled wheels, wherein the system comprises a control unit configured to:

receive a signal indicative of a downhill slope for a road ahead of the vehicle;

determine an inclination of the downhill slope;

determine a braking power needed for the at least one auxiliary braking arrangement for preventing the vehicle speed of the vehicle to exceed a predetermined speed limit when driving at the downhill slope; and

control the at least one differential braking arrangement to be engaged for reducing the relative rotational speed between the propelled wheels when the determined braking power of the at least one auxiliary braking arrangement is higher than a predetermined threshold limit, wherein the control unit controls at least one differential braking arrangement to be engaged when the vehicle is positioned at a predetermined distance from the downhill slope.

12. A vehicle comprising at least one pair of propelled wheels, at least one auxiliary braking arrangement and at least one differential braking arrangement connected to the pair of propelled, wherein the differential braking arrangement is arranged to control a relative rotational speed between the pair of propelled wheels, wherein the vehicle further comprises a system according to claim 11 .

13. A computer program comprising program code means for performing the steps of claim 1 when the program is run on a computer.

14. A computer readable medium carrying a computer program comprising program means for performing the steps of claim 1 when the program means is run on a computer.