A method of controlling a wheel loader, comprising: moving the wheel loader forwards such that a bucket penetrates into an aggregate to perform an excavation work; obtaining signals able to be used to determine tire slip of the wheel loader during the excavation work; performing prediction algorithms obtained through training to determine whether or not the tire slip occurs; decreasing an engine speed and lifting the bucket to remove the tire slip, until after a point at which a tire tractive force and a bucket breakout force are equal to each other, in case of the tire slip; and moving the bucket along a predetermined autonomous excavation trajectory when the tire slip is removed, wherein performing the prediction algorithms comprises performing algorithms trained using data on a first group of signals for the tire tractive force and a second group of signals for the bucket breakout force as learning data for the tire slip determination, wherein obtaining the signals able to be used to determine the tire slip of the wheel loader comprises obtaining the first group of signals required for calculating the tire tractive force, and obtaining the second group of signals required for calculating the bucket breakout force, and wherein the first group of signals includes at least one of an engine rotational speed signal, a turbine rotational speed signal of a torque converter, a speed step signal of a transmission, a vehicle speed signal and a wheel rotational speed signal, and the second group of signals includes at least one of a stroke signal of a boom cylinder, a stroke signal of a bucket cylinder and a pressure signal of the boom cylinder. moving the wheel loader forwards such that a bucket penetrates into an aggregate to perform an excavation work; obtaining signals able to be used to determine tire slip of the wheel loader during the excavation work; performing prediction algorithms obtained through training to determine whether or not the tire slip occurs; decreasing an engine speed and lifting the bucket to remove the tire slip, until after a point at which a tire tractive force and a bucket breakout force are equal to each other, in case of the tire slip; and moving the bucket along a predetermined autonomous excavation trajectory when the tire slip is removed, wherein performing the prediction algorithms comprises performing algorithms trained using data on a first group of signals for the tire tractive force and a second group of signals for the bucket breakout force as learning data for the tire slip determination, wherein obtaining the signals able to be used to determine the tire slip of the wheel loader comprises obtaining the first group of signals required for calculating the tire tractive force, and obtaining the second group of signals required for calculating the bucket breakout force, and wherein the first group of signals includes at least one of an engine rotational speed signal, a turbine rotational speed signal of a torque converter, a speed step signal of a transmission, a vehicle speed signal and a wheel rotational speed signal, and the second group of signals includes at least one of a stroke signal of a boom cylinder, a stroke signal of a bucket cylinder and a pressure signal of the boom cylinder.