Method for actuating electric motors in serial hybrid vehicles or fully electric vehicles having at least two separately driven axles

A system for controlling a vehicle having first drive axle and a second drive axle, the device comprising:

• a sensor configured to ascertain the first drive force that acts upon the first drive axle and a second drive force that acts upon the second drive axle;
• a sensor configured to ascertain a first slip value for the first drive axle and a second slip value for the second drive axle;
• an evaluator configured to determine, from the first drive force and the first slip value, a first slip measured value for the first drive axle and to determine, from the second drive force and the second slip value, a second slip measured value for the second drive axle;
• a measurement device for determining a total torque that is to act altogether on the first drive axle and the second drive axle;
• a controller configured to divide, in dependence upon the first slip measured value and the second slip measured value, the total torque into a first desired torque and a second desired torque;
• a first drive device configured to apply the first desired torque to the first drive axle;
• and
• a second drive device configured to apply the second desired torque to the second drive axle.