Control method and apparatus for a vehicle

A device for controlling a wheeled vehicle travelling on a surface, the vehicle having a vehicle powertrain for generating and delivering power to vehicle wheels, the device comprising:

• at least one sensor for measuring at least one parameter associated with motion of the vehicle;
• and
• at least one controller configured to
• determine a relationship between the at least one measured parameter and a predetermined threshold that is indicative of a level at which wheel slip of the vehicle may occur;
• and
• control a rate at which torque applied by the powertrain to at least one of the vehicle wheels may be changed based on the determined relationship to reduce a rate at which wheel slip may develop.

A vehicle, comprising

• a plurality of wheels;
• a vehicle powertrain for generating and delivering power to the wheels;
• at least one sensor for measuring at least one parameter associated with motion of the vehicle;
• and
• at least one controller configured to
• determine a relationship between the at least one measured parameter and a predetermined threshold that is indicative of a level at which wheel slip of the vehicle may occur;
• and
• control a rate at which torque applied by the powertrain to at least one of the vehicle wheels may be changed based on the determined relationship to reduce a rate at which wheel slip may develop.

A control method for a wheeled vehicle travelling on a surface, the vehicle having a vehicle powertrain for generating and delivering power to the vehicle wheels, the method comprising:

• measuring one or more parameters associated with motion of the vehicle on the surface;
• comparing the or each of the measured parameters with a predetermined threshold for said measured parameter that is indicative of a level at which wheel slip of the vehicle may occur;
• in circumstances in which one or more of the measured parameters exceeds the predetermined threshold, controlling the torque applied by the powertrain to the vehicle wheels to reduce a rate at which wheel slip may develop;
• calculating a wheel slip value based on one or more of the measured parameters;
• comparing the wheel slip value with a predetermined wheel slip threshold for wheel slip of the vehicle;
• and
• reducing the torque applied by the powertrain to the vehicle wheels if the wheel slip value exceeds the wheel slip threshold.