Patent ID: 6862513

Claim:
A method for regulating a speed of a low-μ wheel as a vehicle one of starts from rest and accelerates on a road surface having adhesive friction values that differ between a left side of the vehicle and a right side of the vehicle, comprising: braking the low-μ wheel by a braking intervention when the low-μ wheel exceeds a defined slip threshold, thereby becoming a slipping low-μ wheel; regulating the speed of the slipping low-μ wheel to a defined setpoint speed according to a setpoint speed regulation during a first setpoint speed regulation phase in which a setpoint pressure for the braking of the low-μ wheel is set so that the low-μ wheel tracks the setpoint speed; discontinuing the setpoint speed regulation when a high-μ wheel meets a defined breakaway condition; performing a setpoint pressure control operation during a setpoint pressure control phase in which the setpoint pressure of the low-μ wheel is abruptly reduced in order to decrease a drive torque transferred to the high-μ wheel; and continuing the setpoint speed regulation in a second setpoint speed regulation phase.