Abstract: The present invention is a method for controlling the change-over between two and four-wheel drive modes of a vehicle, wherein the two-wheel drive mode is smoothly changed to the four-wheel drive mode during acceleration in the two-wheel drive mode.

Abstract: According to the method of the present invention, when the vehicle speed has become less than the reference speed, after a reduction in the hydraulic braking pressure during braking, the hydraulic braking pressure is gradually increased. According to the above method, the rate of increase of the hydraulic braking pressure is moderated when the vehicle speed has become less than a reference value. This will avoid the degradation in braking feeling due to a rapid increase in hydraulic braking pressure for a wheel brake.

Abstract: According to the present invention, the time during which the hydraulic braking pressure is intermittently maintained, is varied depending upon the degree of decrease in the wheel speed relative to the vehicle speed, so that the time may be prolonged when a large decrease occurs. Hence, unnecessary maintenance of the intermittent maintaining time is avoided in order to prevent any unnecessary operational noise from being produced.

Abstract: It is an object of the present invention to provide a method for controlling the vehicle speed during acceleration of a four-wheel drive vehicle, wherein the vehicle speed during acceleration can be determined with precision. According to the above method, even if a wheel is spinning, the vehicle speed can be correctly determined without any influence of the spin, by correcting the vehicle speed during acceleration by comparison of the determined second vehicle speed, based upon the lowest speed of the four wheels, with the first vehicle speed, which is determined based upon the wheel speed.