Traction control through cross-axes oscillation control

A traction control system for a vehicle having an engine, brakes and a powertrain, said system providing additional traction by providing control of the brakes by alternately braking the driving wheels a different amount in a manner so as to reduce the total amount of wheel slip, comprising the steps of:

• determining if a first driving wheel is spinning;
• increasing braking of said first driving wheel;
• determining if a second driving wheel is spinning above a predetermined amount;
• if yes, increasing braking of said second driving wheel for a predetermined pulse duration and completely reducing braking of said first driving wheel;
• setting a predetermined second wheel slip trigger level;
• setting a first flag if one wheel is spinning;
• setting a second flag if the second wheel slip is above the trigger level;
• determining if a slip error in the second wheel, expressed as a difference between the second wheel speed and a reference wheel speed, is decreasing below a predetermined level or if the predetermined pulse duration for increased braking of the second driving wheel has expired;
• and
• resetting said first and second flags.