Method and control device for controlling driving operation of an articulated tracked vehicle

A method performed by a control device for controlling driving operation of an articulated tracked vehicle, said articulated tracked vehicle comprising a drive arrangement for driving drive wheels of the vehicle for operating the vehicle, a braking system for braking the drive wheels of the vehicle, a transmission arrangement for providing gear shift of the drive wheels, and a first vehicle unit and a second vehicle unit steerably connected to the first vehicle unit by a steering device for mutually pivoting said vehicle units, the mutual pivoting comprising roll movement about a roll axis, the steering device comprising a roll arrangement for said roll movement, the roll arrangement comprising a rotation member, a control arrangement being providing for controlling the roll arrangement, the method comprising the steps of:

• determining coincident spinning of tracks on a side of the first vehicle unit and tracks on an opposite side of the second vehicle unit;
• reducing relative roll movement of the vehicle units based on the determination of coincident spinning;
• determining a power of said drive arrangement, a speed of the drive wheels, and a speed of transmission of said transmission arrangement;
• and
• controlling the roll arrangement of the steering device so as to control mutual roll movement of said vehicle units and reduce risk of the vehicle tipping over by the control arrangement acting on the rotation member based on the power of said drive arrangement, the speed of the drive wheels, and the speed of transmission of said transmission arrangement.