A METHOD FOR CONTROLLING WHEEL SLIP OF A VEHICLE

The invention relates to a method for controlling wheel slip of a vehicle (100), wherein the vehicle (100) comprises at least a first and a second motion support device, MSD (116, 114), for providing torque to a common wheel (102) of the vehicle (100). The method comprises receiving a wheel torque request. Based on the received wheel torque request, the method further comprises controlling the first MSD (116) to provide torque to the wheel (102) in a first mode of operation, and controlling the second MSD (114) to provide torque to the wheel (102) in a second mode of operation which is different from the first mode of operation. The controlling of the first MSD and the controlling of the second MSD are, at least temporarily, performed simultaneously.