Abstract: A system controls torques applied to a plurality of wheels of a motor vehicle. One or more angular velocity sensors determine speed for each of the plurality of wheels. A vehicle yaw acceleration sensor determines actual yaw acceleration of the vehicle. A desired yaw acceleration sensor determines intended yaw acceleration for the vehicle. A net torque command sensor determines intended vehicle direction and intended torque magnitude for the vehicle. An electronic control unit processes data from the velocity sensors, the vehicle yaw acceleration sensor, the desired yaw acceleration sensor and the net torque command sensor to generate torque signals for the plurality of wheels. One or more torque producers responds to the torque signals to vary torque applied to each of the plurality of wheels, such that the wheels engage in one of acceleration and deceleration dependent upon driver intent and with controlled traction.

Abstract: A system controls torques applied to a plurality of wheels of a motor vehicle. One or more angular velocity sensors determine speed for each of the plurality of wheels. A vehicle yaw acceleration sensor determines actual yaw acceleration of the vehicle. A desired yaw acceleration sensor determines intended yaw acceleration for the vehicle. A net torque command sensor determines intended vehicle direction and intended torque magnitude for the vehicle. An electronic control unit processes data from the velocity sensors, the vehicle yaw acceleration sensor, the desired yaw acceleration sensor and the net torque command sensor to generate torque signals for the plurality of wheels. One or more torque producers responds to the torque signals to vary torque applied to each of the plurality of wheels, such that the wheels engage in one of acceleration and deceleration dependent upon driver intent and with controlled traction.