METHOD FOR DISTRIBUTING REQUESTED TORQUE FOR DRIVING VEHICLE HAVING WHEEL

The invention relates to a method for distributing a required torque for driving a vehicle having wheels, in which a plurality of wheel sets, each having at least one wheel, can be driven independently of one another in order to transmit a driving force to a foundation, the method comprises the following steps: determining (300) that at least one wheel of a wheel set of the plurality of wheel sets begins to slip, determining (320) a limit torque (MG, max, VA, MG, max, HA) for each of the plurality of wheel sets, which limit torque corresponds to a maximum transmissible driving force via the respective wheel set, and determining (320) a torque (MG, max, VA, MG, max, HA) for each of the plurality of wheel sets, which limit torque (MG, max, VA, MG, max, HA), which limit torque (MG, max, VA, MG, max, HA), wherein the wheels of the respective wheel set do not slip, determining an assignment of the required torque (MA) to the plurality of wheel sets such that no respective limit torque (MG, max, VA, MG, max, HA) is