| 摘要 |
A method and a system for controlling braking of a waist steered engine powered work vehicle (1) having wheels and a steering joint (4) in the form of a bucket loader having a loading bucket and at least two wheel axes, said vehicle exhibiting: individually activated braking units (16-19) for each one of the wheels (2a,b,3a,b), and a transmission including a driving gear individually (13) for transferring of torque to a propeller axis (11) between the wheel axes (20,21), and a differential gear (14,15) between the propeller axis and each one of the wheel axes as well as a rotational rigid cardan joint in the area of the steering joint. At least one is-value is sensed or calculated for at least one condition variable influencing the vehicle, which is representative for parasitic torque occurring in the vehicle transmission during braking, and outgoing from said is-value at least one braking unit (16-19) is controlled for reducing the magnitude of applied braking force and thereby for reduction of said parasitic torque. The invention also concerns a work vehicle (1).
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