Emergency maneuvering based on a pre-determined axle brake torque difference

A control unit arranged for vehicle motion management, VMM, of a heavy-duty vehicle, the control unit comprising a minimum risk maneuver, MRM, control module configured to assist in performing an MRM comprising braking wherein the MRM control module is arranged to obtain data associated with a brake system of the vehicle, where the data is indicative of a pre-determined difference in brake torque over a first axle of the vehicle, where the pre-determined difference in brake torque over the first axle is configured in dependence of a preferred drift direction by the vehicle during the MRM.

A method performed in a vehicle, the method comprising:

• pre-configuring a brake system comprising a first axle with a left wheel braking device and a right wheel braking device, where the braking devices of the first axle are configured to apply a pre-determined difference in brake torque over the first axle in response to a brake signal, where the pre-determined difference in brake torque over the first axle is configured in dependence of a preferred drift direction by the vehicle during a minimum risk maneuver, MRM, where the left wheel braking device and the right wheel braking device form part of a parking brake system of the vehicle,
• detecting an emergency situation, and
• executing the MRM by the vehicle comprising activating the brake system.