a method of releasing a stuck vehicle with a rocking - free process which continues until the process is suppressed . the process is suppressed after a differential lock , closed at the beginning of the process , remains open for a predetermined time , or after reaching and maintaining a clutch load limit for a predetermined time , or after reaching a limit transmission gear , and maintaining the limit value for a predetermined time , or after registering the wheel rotational directions while a transmission gear engages , and after a predetermined time , in which the registered wheel rotational direction corresponds to a required direction for the gear engaged , or after a transmission gear is engaged , a transmission condition is maintained for a predetermined time , engaging a clutch for the predetermined time , a wheel speed difference limit value is reached , and the wheel speed difference remains at or falls below the speed difference limit value for the predetermined time .