Patent ID: 7942228

Claim:
A truck having a chassis ( 2 ) with wheels ( 3 ), a plurality of said wheels ( 3 ) each having a single wheel drive ( 4 ), and a control device ( 5 ) for the control of the speed and/or of the torque of the single wheel drives ( 4 ), wherein the control device ( 5 ) has a separate control train ( 6 , 7 ) for each single wheel drive ( 4 ) and divides a desired torque (Msoll) set by the operator to the control trains ( 6 , 7 ), with each control train ( 6 , 7 ) having a differential controller ( 8 ) for the correction of the divided desired torque (Msoll) in dependence on a steering angle (α) and provision of a correspondingly corrected desired torque (M res ), and a wheel slip controller ( 9 ) for the correction of the divided desired torque and/or corrected desired torque (M res ) in dependence on a wheel slip and provision of a single wheel drive desired ( Msoll *), and being free of mechanical differentials between the single wheel drives.