HANDLING A LONGITUDINAL SLIP OF A WHEEL

A computer system (700) comprising processing circuitry (702) configured to handle a longitudinal slip of a wheel (11) of a vehicle (1) is provided. The processing circuitry (702) is configured to, determine a first longitudinal slip and a first tire force of a tire of the wheel (11). The processing circuitry (702) is configured to, with respect to a torque needed to provide the first tire force, control a torque applied to the wheel (11) to attain a second tire force, the second tire force being lower than the first tire force with respect to a predefined relationship. The processing circuitry (702) is configured to determine a second longitudinal slip associated with the second tire force. The processing circuitry (702) is configured to, based on the second longitudinal slip, determine a slip or slip interval for controlling the longitudinal slip of the wheel (11).