Differential lock control

A computer system comprising processing circuitry configured to:

• receive, when a differential lock is engaged on a drive axle of a vehicle, an indication of a driving situation where it would be desirable to disengage the differential lock on the drive axle;
• receive a first indication of a first road friction on a left side of the vehicle and a second indication of a second road friction on a right side of the vehicle;
• determine, based on the first indication and the second indication, a first braking setting for a left side wheel on the drive axle and a second braking setting for a right side wheel on the drive axle;
• and
• change driving mode for the vehicle by controlling the differential lock to disengage and controlling at least one braking system of the vehicle to brake the left side wheel with the first braking setting, and to brake the right side wheel with the second braking setting.