To provide a traveling system and a control method thereof capable of favorably controlling inhibition of idle running of a tire.

A rotation command ωref is transmitted to an input terminal 1 and then to a speed controller 102 through a subtracter 101. The output signal of the speed controller 102 is transmitted to a slip adjuster 103, and the slip adjuster 103 multiplies a transmitted signal by a coefficient [Ksadj] to fetch a motor torque command Tref[Nm]. Additionally, a rotor model rotation angle θm[rad] and a rotor rotation angle θm[rad] are transmitted to a subtracter 106 to fetch a model error Em of a difference, and the model error Em is transmitted to an estimator 400 for gain [Kadp+(Kadi/S)] to control a road surface frictional force estimated value Tidr[Nm] formed in the estimator 400, thereby fetching the road surface frictional force estimated value Tidr[Nm] equal to road surface friction torque Fdr×r[Nm]. Further, the fetched road surface frictional force estimated value Tidr[Nm] is transmitted to a setter 107 for the coefficient [Ksadj] transmitted to the slip adjuster 103 to set the coefficient [Ksadj].

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