Preventing of slip in an electrically powered vehicle

A method and an arrangement for preventing slip in a wheeled vehicle having two or more driving wheels that are operated with electric motors. The electric motor of each driving wheel of the vehicle comprises a torque limit applicable to limit torque of the motor, wherein the method comprises, for each driving wheel, setting an angular acceleration limit for the driving wheel, detecting angular acceleration of the driving wheel continuously, comparing the detected angular acceleration with the angular acceleration limit continuously, and if the detected angular acceleration is higher than the angular acceleration limit, reducing the torque limit from its current value until the angular acceleration of the driving wheel is below the angular acceleration limit, increasing the torque limit at a first rate to a value lower than the value from which it was reduced, and increasing the torque limit at a second rate to the maximum value, the second rate being lower than the first rate.