A SYSTEM AND A METHOD FOR CONTROLLING WHEEL SLIP OF A VEHICLE

The invention relates to a system (104) and to a method executed in a vehicle control unit (110), VCU, for controlling wheel slip of a vehicle, wherein the vehicle comprises at least two wheels (102a, 102b) driven by at least primary actuator (106) via an open differential (108). The primary actuator (106) is controlled to rotate at a speed resulting in a slip λem of the primary actuator (106). A signed wheel slip limit λlim is determined by adding a configurable value to the slip λem of the primary actuator, such that λlim > λem. Said at least two wheels (102a, 102b) are controlled to rotate at wheel speeds resulting in respective wheel slips λl, λr below the signed wheel slip limit λlim, wherein each one of λl, λr and λem are signed numerical values.