Handling wheel slip in a vehicle

A computer-implemented method for handling wheel slip of one or more wheels of a vehicle, wherein the vehicle comprises a first axle, wherein the first axle comprises at least two wheels, wherein each of the at least two wheels of the first axle is drivable by at least two hydraulic motors, wherein each hydraulic motor is operable to drive a respective wheel out of the at least two wheels of the first axle based on a respective pressure and/or flow, e.g., an oil pressure and/or an oil flow, wherein each respective pressure and/or flow to each respective hydraulic motor is individually controlled by a distribution valve comprised in the vehicle, and wherein the pressure and/or flow is supplied by a source comprised in the vehicle, the method comprising:

• by processing circuitry of a computer system, obtaining a slip condition of the vehicle, the slip condition being indicative of a slip in the at least two wheels of the first axle and/or at least two wheels of a second axle;
• and
• by the processing circuitry, based on the obtained slip condition, triggering an adjustment of pressure and/or flow to be supplied to at least one of the at least two hydraulic motors, by any one or both of:
• based on the obtained slip condition, triggering an adjustment of a pressure and/or flow distribution in the distribution valve;
• and/or
• based on the obtained slip condition, triggering an adjustment of the pressure and/or flow supplied by the source.