Method of determining traveling state of vehicle

A method for wheel slip reduction control of a vehicle, the method comprising:

• determining, by a controller, a torque command of a drive unit to apply torque to a drive wheel in accordance with vehicle driving information collected during traveling of the vehicle;
• determining, by the controller, an acceleration error in accordance with the determined torque command and information regarding a measured longitudinal acceleration of the vehicle measured by a first sensor, the acceleration error being defined by a difference between a reference longitudinal acceleration of the vehicle connected to the torque command and the measured longitudinal acceleration of the vehicle;
• determining, by the controller, an acceleration disturbance rate in accordance with the determined torque command, the acceleration disturbance rate being defined by a difference between an actual rotational acceleration of the drive unit and a reference rotational acceleration of the drive unit connected to the torque command;
• determining, by the controller, a current traveling state of the vehicle in accordance with the determined acceleration error and the determined acceleration disturbance rate;
• and
• performing, by the controller, a wheel slip reduction control on the basis of information on the determined current traveling state of the vehicle.