SYSTEM AND A METHOD FOR CONTROLLING WHEEL SLIP OF A VEHICLE

A system and to a method executed in a vehicle control unit for controlling wheel slip of a vehicle, wherein the vehicle comprises at least two wheels driven by at least primary actuator via an open differential. The primary actuator is controlled to rotate at a speed resulting in a slip λof the primary actuator. A signed wheel slip limit λis determined by adding a configurable value to the slip λof the primary actuator, such that λ>λ. The at least two wheels are controlled to rotate at wheel speeds resulting in respective wheel slips λ, λbelow the signed wheel slip limit λ, wherein each one of λ, λand λare signed numerical values.