Automatic coordinated control of vehicle and winch

A winching control system, comprising:

• a vehicle, comprising:
• one or more front wheels and one or more rear wheels;
• one or more front axles and one or more rear axles;
• one or more powertrains;
• one or more braking mechanisms;
• and
• a steering mechanism;
• a winch, coupled to the vehicle, comprising a winching cable;
• a computing device, comprising a processor and a memory;
• and
• one or more sensors configured to determine whether any of the one or more front wheels and one of more rear wheels have a wheel slip;
• wherein the memory comprises instructions that, when executed by the processor, are configured to cause the processor to:
• control the vehicle and the winch, and
• cause the winching control system function between a first mode of operation, a second mode of operation, and a third mode of operation;
• wherein, in the second m e of operation:
• the winch is activated with a winch gear engaged;
• the one or more powertrains are activated, and
• the one or more braking mechanisms are applied to any wheels having a wheel slip;
• and
• wherein the instructions, when executed by the processor, are further configured to cause the processor to activate the second mode of operation in response to:
• a wheel speed difference between the one or more front axles and the one or more rear axles being greater than a threshold value;
• a vehicle speed being less than a threshold vehicle speed;
• and
• an absolute value of a yaw rate of the vehicle being less than a threshold yaw rate value.