Method for freeing at least one locked wheel of a vehicle and propulsion system for a vehicle

A propulsion system of a vehicle having at least one wheel, the propulsion system comprising:

• at least one propulsion actuator being drivingly connectable to the at least one wheel;
• at least one wheel speed sensor being configured for detecting the rotational speed of the at least one wheel;
• at least one brake unit being configured for braking the at least one wheel;
• and
• a control unit being connected to the at least one propulsion actuator, the at least one wheel speed sensor and the at least one brake unit, the control unit being configured to perform operations comprising:
• identifying a locking scenario comprising at least one locked wheel, wherein a locked wheel is a wheel not being able to rotate even though a corresponding brake is requested to be released and a driver of the vehicle requests propulsion torque, and wherein the identifying the locking scenario comprises at least one of:
• detecting a wheel speed of each of the vehicle's wheels, and detecting or estimating a motion of the vehicle, wherein the respective wheel speeds of each of the vehicle's wheels are compared to the motion of the vehicle or the estimation of the motion of the vehicle, or
• detecting a yaw motion of the vehicle and comparing the detected yaw motion to an estimated yaw motion of the vehicle;
• and
• selecting a wheel freeing strategy being suitable for the identified locking scenario from a group of wheel freeing strategies, wherein selecting the wheel freeing strategy comprises detecting obstacles in surroundings of the vehicle;
• and
• applying the selected wheel freeing strategy.

A method for freeing at least one locked wheel of a vehicle, wherein a locked wheel is a wheel not being able to rotate even though a corresponding brake is requested to be released and a driver of the vehicle requests propulsion torque, the method comprising:

• identifying, by a system of the vehicle, a locking scenario comprising the at least one locked wheel;
• selecting, by the system, at least one wheel freeing strategy being suitable for the identified locking scenario from a group of wheel freeing strategies, wherein the at least one wheel freeing strategy comprises a request for a braking action to be applied to at least one non-locked wheel of the vehicle;
• and
• applying, by the system, the selected at least one wheel freeing strategy.