Control system for a vehicle

A vehicle comprising:

• a frame;
• a right suspension and a left suspension connected to the frame;
• a plurality of ground-engaging members each connected to the frame by a respective one of the right suspension and the left suspension;
• a powertrain for driving at least one of the plurality of ground-engaging members, the powertrain comprising a motor supported by the frame;
• and
• control system for determining a traction quality of a vehicle, the control system comprising:
• at least one sensor of at least one parameter indicative of positions of one of:
• an extension position of at least one of the right and left suspensions, and
• a vertical position of at least one of the right and left ground-engaging members;
• and
• a control unit operatively connected to the at least one sensor, the control unit being configured to execute:
• receiving sensor signals from the at least one sensor;
• determining a value of at least one of:
• a positional difference between at least one of the right and left suspensions and the right and left ground-engaging members, and
• an average position of at least one of the right and left suspensions and the right and left ground-engaging members;
• and
• generating a control signal representative of the traction quality of the vehicle at least partly based on the value.

A method for determining a traction quality of a vehicle, the vehicle having an engine and right and left ground-engaging members, left and right suspension assemblies connected to the left and right ground-engaging members, the method comprising:

• receiving, by a control unit, sensor signals from at least one sensor of at least one parameter indicative of positions of one of:
• the right and left suspensions, and
• the right and left ground-engaging members;
• determining a value of at least one of:
• a positional difference between at least one of the right and left
• suspensions and the right and left ground-engaging members, and
• an average position of at least one of the right and left suspensions and the right and left ground-engaging members;
• and
• generating a control signal representative of the traction quality of the vehicle at least partly based on the value.