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In order to improve the vehicle anti-slip performance, an acceleration slip regulation strategy based on extremum seeking control with sliding mode was proposed. Extremum seeking control with sliding mode was used as a self-optimizing way to find the extreme point of tire force-slip rate curve. In this condition, the tire slip ratio near the optimal slip ratio can be controlled without having to estimate the road surface friction coefficient or establishing the ideal reference model to improve the vehicle dynamic performance and directional stability. Moreover, a validated full vehicle simulation model was built in Matlab/Simulink. And the controller based on extremum seeking control with sliding mode was carefully designed. Finally, simulation results showed that during acceleration the vehicle can quickly reach the optimal slip ratio which corresponded to the real-time road conditions with the proposed control strategy. It implied that the proposed control strategy can improve vehicle dynamic performance.