US Patent 7614470 Torque proportioning control system

A method of proportioning and delivering drive torque to the four wheels of a vehicle includes the steps of sensing the wheel speeds, yaw rate and body side slip of the vehicle, calculating the torque split for delivery to the front, rear, left and right of the vehicle, calculating the percentage of torque to be provided to the four wheels of the vehicle scaling such torque delivery based upon driveline architecture of the vehicle and delivering drive torque to the four wheels of the vehicle.