Electric vehicle with traction control

In a vehicle with an electric motor and a drive system, an accelerator pedal, and a first wheel mechanically connected to the electric motor and drive system, wherein the motor provides motor torque, wherein the motor torque is positive during a first set of time periods, providing positive output torque and negative during a second set of time periods, providing negative output torque, wherein the positive output torque causes a vehicle acceleration and wherein the negative output torque causes a regenerative braking, a method traction control comprising the steps of:

• sensing positive wheel slip between the first wheel and a second wheel when the electric vehicle is accelerating in response to an acceleration request from the accelerator pedal to increase a road speed;
• determining a control command responsive to the sensed slip;
• applying the control command to the motor and the drive system to affect the positive output torque from the motor when the control command is less than the acceleration request;
• applying the control command to the motor and drive system to affect the regenerative braking when the control command is greater than the acceleration request, wherein the regenerative braking occurs when the vehicle is accelerating to increase the road speed, wherein during the regenerative braking, a positive tractive force is provided by an inertia of the motor and the drive system to accelerate the vehicle to increase road speed, wherein the control command controls both the positive motor drive torque and the regenerative braking during a traction control.