A method for controlling or regulating a wheel speed (n F,Ref) of at least one wheel (111 l, 111 r; 121 l, 121 r) of a drivable axle (110, 120) of a two-track vehicle (100, 200, 300, 400) with two drivable axles (110, 120), particularly for controlling a wheel speed (n F,Ref) of at least one wheel (111 l, 111 r; 121 l, 121 r) of a drivable axle (110, 120) of a vehicle (100, 200, 300, 400) with two drivable axles (110, 120) that is embodied as a tractor or as a self-driving work machine, wherein the vehicle (100, 200, 300, 400) has - a first, drivable axle with at least two wheels (111 l, 111 r), - a second, drivable axle with at least two wheels (121 l, 121 r), - a first drive motor (130, 340, 4401, 440r), - at least one second drive motor (140, 240 l, 240 r), - a device for detecting driving state variables (12, 312) in order to determine a driving state of the vehicle, and - a control device (20, 220, 320, 420), - wherein the first drive motor (130, 340, 4401, 440r) is provided to drive at least one wheel (111 l, 111 r) of the first axle, - wherein the second drive motor (140, 240 l, 240 r) is provided to drive at least one wheel (121 l, 121 r) of the second axle, - wherein the device for detecting driving state variables (12, 312) is at least designed to detect an actual speed (n R,act) of the first axle, and - wherein the control device (20, 220, 320, 420) is designed to determine, at least as a function of the detected actual speed (n R,act) of the first axle, a target speed (n F,Ref) for the at least one wheel (121 l, 121 r) of the second axle and to control at least the second drive motor (140, 240 l, 240 r) such that the desired target speed (n F,Ref) is achieved on the at least one wheel (121 l, 121 r) of the second axle, with the steps: - detecting an actual speed (n R,act) of the first axle, - determining the target speed (n F,Ref) for the at least one wheel (121 l, 121 r) of the second axle at least as a function of the actual speed (n R,act) of the first axle, - controlling of at least the second drive motor (140, 240 l, 240 r) such that the determined target speed (n F,Ref) is achieved on the at least one wheel (121 l, 121 r) of the second axle, wherein, in order to determine the target speed (n F,Ref), a synchronous target speed (n F,syn) is determined as a function of the actual speed (n R,act) of the first axle, and the target speed (n F,Ref) is determined as a function of the determined synchronous target speed (n F,syn), with the synchronous target speed (n F,syn) being the target speed (n F,Ref) at which the same wheel circumferential speed is achieved on the at least one wheel (121 l, 121 r) of the second axle as on the wheels (111 l, 111 r) of the first axle. - a first, drivable axle with at least two wheels (111 l, 111 r), - a second, drivable axle with at least two wheels (121 l, 121 r), - a first drive motor (130, 340, 4401, 440r), - at least one second drive motor (140, 240 l, 240 r), - a device for detecting driving state variables (12, 312) in order to determine a driving state of the vehicle, and - a control device (20, 220, 320, 420), - wherein the first drive motor (130, 340, 4401, 440r) is provided to drive at least one wheel (111 l, 111 r) of the first axle, - wherein the second drive motor (140, 240 l, 240 r) is provided to drive at least one wheel (121 l, 121 r) of the second axle, - wherein the device for detecting driving state variables (12, 312) is at least designed to detect an actual speed (n R,act) of the first axle, and - wherein the control device (20, 220, 320, 420) is designed to determine, at least as a function of the detected actual speed (n R,act) of the first axle, a target speed (n F,Ref) for the at least one wheel (121 l, 121 r) of the second axle and to control at least the second drive motor (140, 240 l, 240 r) such that the desired target speed (n F,Ref) is achieved on the at least one wheel (121 l, 121 r) of the second axle, - detecting an actual speed (n R,act) of the first axle, - determining the target speed (n F,Ref) for the at least one wheel (121 l, 121 r) of the second axle at least as a function of the actual speed (n R,act) of the first axle, - controlling of at least the second drive motor (140, 240 l, 240 r) such that the determined target speed (n F,Ref) is achieved on the at least one wheel (121 l, 121 r) of the second axle,