Abstract: A robotic two-wheeled vehicle comprising a connection body interposed between the two wheels are described. A drum can be coaxially located in a central region of the connection body and can support a hollow arm projecting radially from the drum. A tether can be inserted in the arm and connected to a second drum. Instruments and sensors can be accommodated in a case housed inside each wheel.

Abstract: A power take-off support portion, including a shaft hole and an outer side surface formed around the shaft hole, is formed on a transaxle housing. The outer side surface of the power take-off support portion is shaped to fit a power take-off casing supporting a power take-off shaft in a first direction. A power take-off casing includes a power take-off main casing member and a base casing member joined to each other. The base casing member is formed with an inner side surface and an outer side surface. The inner side surface and the outer side surface of the base casing member are shaped so that the power take-off shaft supported by the power take-off main casing member is oriented in a second direction different from the first direction when the inner side surface of the base casing member is fitted to the outer side surface of the power take-off support portion, and the outer side surface of the base casing member is fitted to the inner side surface of the power take-off main casing member.

Abstract: The present invention relates to a powered vehicle. The powered vehicle includes a first frame assembly and a second frame assembly. A first axle is coupled to the first frame assembly and a second axle is coupled to the second frame assembly. The powered vehicle further includes a first powertrain assembly and a second powertrain assembly. The first powertrain assembly and second powertrain assembly are interchangeably coupled to the first axle and second axle.

Abstract: The present invention provides an interface for aligning a power-producing device and a power-transferring device in a vehicle. The interface includes an axle tube housing and a flange integrally coupled at one end of the axle tube housing. The flange has a rear surface. The interface also includes a motor housing and a drive housing. The motor housing is configured to contain the power-producing device and the drive housing is configured to contain the power-transferring device. A plate is removably coupled to one end of the motor housing. The plate is coupled to the axle tube housing and has an outer diameter. The interface further includes a spindle coupled to the drive housing. The spindle has a front surface and an inner diameter. The outer diameter of the plate contacts the inner diameter of the spindle when the spindle is coupled to the flange.

Abstract: A method for operating a vehicle drive train comprising a drive unit, a transmission, and an all-wheel splitter having a clutch. The all-wheel splitter is positioned between the transmission and the output and splits a transmission output torque to vary the torque distribution to driven axles of the output. The split of the output torque to the driven axles is performed by a control unit in such a way that the transmission output torque, less a predetermined nominal torque set by the all-wheel drive strategy, is transferred to a first axle while the nominal torque is transferred to a second axle. When defined operating conditions are met, a clutch monitoring function is activated and the nominal torque is replaced by a torque definition of the clutch monitoring function so that the torque which is transferred by clutch to the second driven axle, is increased, then kept constant, and thereafter reduced.

Abstract: An ATV is disclosed having a frame, a seat supported by the frame, front and rear wheels supporting the frame, a drivetrain supported by the frame, and an operator's compartment extending generally between the seat and a front enclosure. The front enclosure extends forwardly to a position proximate an axial centerline of the front wheels. Front lower alignment arms have an inner end and an outer end. Front struts have a shock absorber and a hub portion, where the front struts are coupled to the front lower alignment arms at a lower end of the front struts and the frame at an upper end. A steering mechanism is positioned forward of the axial centerline of the front wheels and is coupled to the front struts.

Abstract: A vehicle includes a vehicle body frame, an internal combustion engine supported on the vehicle body frame, a propeller shaft assembly operatively connected to a crankshaft of the engine, a driveshaft, a final drive unit disposed between the front propeller shaft assembly and the driveshaft, a pair of occupant seats arranged side by side in a vehicle width direction, a pedal cluster, and a reduction gear located rearward of the pedal cluster and frontward of the occupant seats. The propeller shaft assembly includes a first propeller shaft disposed at a rear of the reduction gear, and a second propeller shaft disposed at a front of the reduction gear. The second propeller shaft is offset toward a second seat side in a vehicle width direction with respect to the first propeller shaft.

Abstract: A recreational utility vehicle has a frame, four wheels, a pair of seats mounted laterally beside each other, a cage, a steering assembly, an engine, a front differential, a rear differential, an actuator selectively operatively connecting the engine to the front differential, and a vehicle drive mode switch for selecting between a first and second drive mode. When the first drive mode is selected, the actuator operatively connects the engine to the front differential, and when the second drive mode, the actuator operatively disconnects the engine from the front differential. An electric motor is operatively connected to the steering assembly. A steering control unit is electrically connected to the electric motor, determines an output torque to be applied by the electric motor based at least in part on a speed of the vehicle, and controls the electric motor to apply the output torque to the steering assembly.

Abstract: A drive train of a vehicle is disclosed which comprises a permanently driven primary axle and a secondary axle connectable to the primary axle via a switch-on device with a switch-on mechanism, whereby the secondary drive train output via side shaft couplings is transferred to the drive wheels of the secondary axle. Because the switch-on mechanism and/or the side shaft couplings have frictionally engaged couplings, it can be that when the secondary axle is uncoupled, the shutdown section of the secondary drive train located between the switch-on device and the side shaft couplings is uncoupled both from the primary axle and from the secondary drive wheels, such that there is no more power loss in this shutdown section, whereby connecting the secondary drive train during travel is possible all the same and losses in comfort and practicability do not have to be tolerated.

Abstract: An engine-propelled monowheel vehicle comprises two wheels, close together, that circumscribe the remainder of the vehicle. When the vehicle is moving forward, the closely spaced wheels act as a single wheel, and the vehicle turns by leaning the wheels. A single propulsion system provides a drive torque that is shared by the two wheels. A separate steering torque, provided by a steering motor, is added to one wheel while being subtracted from the other wheel, enabling the wheels to rotate in opposite directions for turning the vehicle at zero forward velocity. The vehicle employs attitude sensors, for sensing roll, pitch, and yaw, and an automatic balancing system. A flywheel in the vehicle spins at a high rate around a spin axis, wherein the spin axis is rotatable with respect to the vehicle's frame. The axis angle and flywheel spin speed are continually adjustable to generate torques for automatic balancing.

Abstract: A driving force controlling apparatus includes a driving force controller configured to determine a state of a road surface. A driving force controller is configured to control a driving force of a vehicle based on the road surface state. A rear-wheel speed sensor is configured to detect a rear-wheel speed. A low-friction-coefficient road surface determining device is configured to determine whether the road surface is a low-friction-coefficient road surface using the rear-wheel speed on a predetermined condition. A determination prohibition device is configured to prohibit the low-friction-coefficient road surface determining device from determining whether the road surface is a low-friction-coefficient road surface, if (a) the rear-wheel speed sensor is abnormal, or if (b) a predetermined time has elapsed from when a shift range is changed from a reverse range to a drive range and/or (c) a gear position has become greater than or equal to a predetermined gear position.

Abstract: An internal combustion engine is mechanically coupled to a hybrid transmission to transmit mechanical power to an output member. A method for controlling the internal combustion engine includes determining an accelerator output torque request based upon an operator input to the accelerator pedal, and determining an axle torque response type. A preferred input torque from the engine to the hybrid transmission is determined based upon the accelerator output torque request. An allowable range of input torque from the engine which can be reacted with the hybrid transmission is determined based upon the accelerator output torque request and the axle torque response type. The engine is controlled to meet the preferred input torque when the preferred input torque is within the allowable range of input torque from the engine. The engine is controlled within the allowable range of input torque from the engine when the preferred input torque is outside the allowable range of input torques from the engine.

Abstract: A vehicle is described having plural modes of operation for the front and rear differential and whereupon start-up of the vehicle, the front and rear differentials are opened to their most open position.

Abstract: A method for controlling an input torque provided to a transmission includes executing a first iterative search within a first range of permissible torque values to determine a first torque value based on a first cost value. The first cost value is based on a first set of powertrain measurements measured at a first time. A second cost value based on a second torque value and the first set of powertrain measurements measured at the first time is calculated. The second torque value is determined using a second set of powertrain measurements measured at a second time prior to the first time. One of the first torque value and the second torque value is then selected based on the first cost value and the second cost value.

Abstract: An all-terrain vehicle including a frame having longitudinally-spaced ends defining a first longitudinal axis, and an engine supported by the frame. The engine includes a crankshaft defining a second longitudinal axis substantially parallel to the first longitudinal axis.

Abstract: A modular industrial drive system includes a base that receives one or more control modules as a face template. The control modules provide a set of functionalities to the drive system, and the face template serves as a user interface to the drive system. The drive system can include a power module and a control module which define desired functionalities for the system.

Abstract: An all-terrain vehicle including a frame having longitudinally-spaced ends defining a first longitudinal axis, and a power steering unit supported by the frame. The power steering unit has an output shaft which is held at its free end in an aperture, and rotates within a bearing.

Abstract: A vehicle drivetrain can include a primary pair of drive wheels and a secondary pair of drive wheels and can be selectively switched between a two-wheel drive mode and a four-wheel drive mode. When the drivetrain is in the two-wheel drive mode, the secondary pair of wheels are disconnected from the prime mover and the multi-ratio transmission. Also, when the drivetrain is in the two-wheel drive mode, the components used to drive the secondary pair of drive wheels can be rotationally isolated from each of the secondary pair of wheels, the prime mover and the multi-ratio transmission.

Abstract: A vehicle with a primary driveline that is configured to distribute rotary power to a first set of vehicle wheels and a power transmitting device that can be selectively operated to transmit rotary power to a secondary driveline. The power transmitting device has an input member, which is driven by the primary driveline, and an output member that is selectively coupled to the input member to receive rotary power therefrom.

Abstract: A 4-wheel drive improved motor vehicle design may have a passenger cabin both at the front and at the rear of said vehicle. The central portion of the vehicle may be partly occupied by the vehicle engine and partly by a framework for supporting essential supplies and personal baggage. The spaced-apart passenger cabins may increase the probability of survival should the vehicle be attacked or undermined A large fuel tank may be combined with comfortable seating to enable the passengers and the vehicle to carry out extended missions.

Abstract: An engine arrangement structure of a saddle-ride type vehicle includes an engine having a crankcase and a cylinder part overhung upwardly from the crankcase. An alternating current generator is provided at one end of the crankshaft with a power transmission system member being provided at the other end thereof. The alternating current generator and the power transmission system member are overhung ahead of and behind the engine relative to the engine cylinder part, respectively. A width by which the power transmission system member is overhung is larger than that by which the alternating current generator is overhung. The alternating current generator of the engine is arranged so as to be directed to the front side of the vehicle body and the power transmission system member is arranged so as to be directed to the rear side of the vehicle body.

Abstract: A drive unit for a vehicle is provided for use as a robot in pipe systems, cavities or the like. The drive unit includes at least one ring-like outer wheel and at least one driven magnetic wheel. The outer and the magnetic wheels have axes parallel to each other and are arranged eccentrically to one another, and engage one another such that when rotating relative to the outer wheel, the magnetic wheel delineates with its wheel axis a concentric circle lying within the outer wheel. In such a drive unit, stronger magnetic adhesion is enabled by the outer and magnetic wheels being arranged one behind the other in an axial direction. The engagement between the outer and magnetic wheels is effected by a circular, concentric disk connected securely against rotation to the magnetic wheel and rolls with its outer peripheral surface on the inner peripheral surface of the outer wheel.

Abstract: A vehicle is disclosed. The vehicle may include an operator area including side-by-side seating. The vehicle may further include a prime mover and a transmission operatively coupled to at least one ground engaging member of the vehicle. The prime mover may be a diesel engine and the transmission may include a CVT. The prime mover and the transmission may be assembled together and supported by a frame of the vehicle through a plurality of mounts.

Abstract: A vehicle is disclosed. The vehicle may include a hydraulic system. The vehicle may include a sway bar. The sway bar may be positioned rearward of a hydraulic pump of the hydraulic system. A console having a first hydraulic input may be provided in an operator area of the vehicle.

Abstract: A tool carrier, such as a compact loader, has a main frame formed as a transmission housing that is all welded construction. The transmission housing has drives from motors and drive shafts on each side of the transmission housing. The drives are in enclosed chain cases forming integral parts of the transmission housing. The drive shafts span the power drive cases and are supported on bearings on both ends. The drives in each of the power drive cases drive front and rear axles of the compact loader. Axle tubes also are welded in place on the transmission housing. The rear portions of the transmission housing have support arm castings supported in and closing the ends of the power drive cases. The support arm castings provide support for mounting lift arms for the compact loader.

Abstract: A power transmission device for a four-wheel drive vehicle includes an input shaft adapted to be driven by a power source. A first output shaft is rotatable about a first axis and adapted to transmit torque to a first driveline. A second output shaft is adapted to transmit torque to a second driveline and is rotatable about a second axis. The first and second axes diverge from one another. A transfer unit includes a drive member driven by the first output shaft and a driven member driving the second output shaft. A spline coupling is positioned within a cavity formed in the driven member to drivingly interconnect the driven member and the second output shaft. The second output shaft is axially moveable relative to the driven member.

Abstract: A method for activating and deactivating the four-wheel drive of a service or a working vehicle not having interaxle differential locks. According to the method, the activation and deactivation of the four-wheel drive is derived from at least one of the following parameters, namely, the driving and load conditions of the vehicle (1), the vehicle speed and the output torque of the gearbox.

Abstract: A mower apparatus and method for making the same is provided. A mower apparatus may include a multi-wheel drive mower system having at least one mower blade and at least one front wheel positioned proximate the front of the mower system and at least one rear wheel positioned proximate the rear of the mower system. The mower apparatus may also include a zero turn assembly haying at least one caster wheel. The zero turn assembly may be rotatably attached to the multi-wheel drive mower system to provide the mower apparatus with the capability of operating in either a multi-wheel drive mode having at least the at least one front wheel and the at least one rear wheel engaging the ground or a zero turn radius mode having only the at least one caster wheel and the at least one rear wheel engaging the ground.

Abstract: A transfer device for a vehicle includes a casing, a cylindrical input shaft supported by the casing, a first end of the input shaft engaging with a driveshaft, an output shaft supported on an internal surface of a second end of the input shaft and engaging with the second end of the input shaft, the output shaft including an oil passage formed therein in an axial direction, and a lubrication fluid supply passage supplying a lubrication fluid from the casing to the oil passage. The lubrication fluid supply passage includes an inner fluid tight chamber annularly formed with an external surface of the output shaft and an internal surface of the input shaft, a first passage establishing a communication between the inner fluid tight chamber and the oil passage, and a second passage establishing a communication between the inner fluid tight chamber and an external surface of the input shaft.

Abstract: Disclosed is an all-terrain vehicle (ATV) engine power output conversion mechanism, which is characterized primarily by linking a first transmission assembly to the output terminal of the engine, where the central shaft of the first transmission assembly is provided with a first gear at its one end which connects to the output terminal of the engine, while the other end of the central shaft to a first bevel gear; having a second transmission assembly, where its central shaft is provided with a second bevel gear at its one end which gears to the first bevel gear, while the other end of the central shaft to a second gear, and the central shaft is joined to the rear wheel axle to drive the rear wheels; having a third transmission assembly, where its central shaft is provided with a third gear which gears to the second gear, and the third gear gears to a reduction gear, where the output terminal of the reduction gear is used to drive the front wheels; and having a switch set up at the handle bar of the ATV or whe

Abstract: A motor vehicle with insertable four-wheel drive, including an engine having a crankshaft, a pair of main driving wheels constantly connected to the crankshaft by interposition of a gearbox provided with a first clutch, and a pair of secondary driving wheels, which may be connected to the crankshaft by an insertable transmission system. The insertable transmission system presents a second clutch, which is connected on one end with a fixed transmission ratio to the crankshaft upstream of the gearbox and on the other end with a fixed transmission ratio to the secondary driving wheels. A percentage of motive torque to be transmitted to the secondary driving wheels by the second clutch is determined according to dynamic parameters of the motor vehicle detected by respective sensors.

Abstract: A drive axle and suspension assembly for a vehicle having a power source and wheels including a torsionally compliant twist beam suspension and a driveline assembly. The twist beam includes a twist element defining a first lateral axis and arm portions adapted to rotatably support the wheels of the vehicle along a second axis extending substantially parallel to the first axis. The driveline assembly is adapted to receive torque from the power source and drive the wheels. The driveline assembly includes a plurality of power transmission rotatably supported by arm portions.

Abstract: An ECU executes a program that includes the steps of: sensing an accelerator position (S100); calculating a target engine torque of a manipulating system “a” from the accelerator position (S200); holding the target engine torque of the manipulating system “a” (S300); calculating a target driving force of the manipulating system “A” from the target engine torque of the manipulating system “a” (S400); arbitrating in driving force between the target driving force of the manipulating system “A” and the target driving force of the supporting system “B” (S500); and, if the target driving force of the manipulating system “A” is selected as a result of the arbitration (NO in S600), outputting the held target engine torque of the manipulating system “a” as the target engine torque to the engine ECU (S900).

Abstract: Methods and apparatus are provided for integrating a torque vectoring differential (TVD) and a stability control system in a motor vehicle. The integrated system is utilized for more efficiently correcting understeer and/or oversteer slides in a motor vehicle. In correcting these slides, the integrated system utilizes the TVD to rotate two wheels on opposite sides of the motor vehicle at different rates to create a yaw moment at the vehicle's center of gravity until the TVD reaches a saturation point and the understeer or oversteer slide is not corrected. Once the saturation point is reached without correcting the understeer or oversteer slide, the stability control system is employed to selectively apply one or more of the vehicle's brakes in a further effort to correct the understeer or oversteer slide.

Abstract: In a V-belt continuously variable transmission (CVT) of an ATV, a movable sheave half of a primary sheave is disposed on the outer side in the vehicle width direction with respect to a fixed sheave half, and a sheave drive mechanism for controlling the respective groove widths of the primary sheave and a secondary sheave through a driving force by an electric motor is located on the outer side in the vehicle width direction with respect to the movable sheave half of the primary sheave. A footboard of the ATV is located on the outer side of the V-belt CVT in the vehicle width direction and below a primary sheave shaft and a secondary sheave shaft. A portion of the electric motor is located above and in front of the primary sheave shaft as viewed in the sheave shaft direction. A straddle-type vehicle having the compact, yet durable V-belt continuously variable transmission achieves a speed change operation highly responsive to the vehicle running condition.

Abstract: A hydrostatic transaxle comprises: a motor casing; at least one hydraulic motor disposed in the motor casing; at least one output shaft disposed in the motor casing so as to be driven by the at least one hydraulic motor; and a pair of steerable wheel support units attached onto respective opposite ends of the motor casing. Each of the steerable wheel support units includes an axle, a steerable casing, a wheel, and a steering arm. In each of the steerable wheel support units, the axle is drivingly connected to the at least one output shaft, the steerable casing is substantially horizontally rotatable relative to the motor casing, the wheel is attached on an outer end of the axle outside of the steerable casing, and the steering arm is rotatably integrally provided on the steerable casing.

Abstract: A vehicle is disclosed having front and rear suspension systems adapted to change the track width of the vehicle.

Abstract: A transmission control system for a vehicle includes a first module that generates a first modified signal based on a first position of a driver input device and a second module that receives the first modified signal from the first module. The second module generates a second modified signal based on a second position of the driver input device and regulates operation of a transmission of the vehicle based on the first and second modified signals.

Abstract: A vehicle includes a front wheel, a rear wheel, an engine, and a jack shaft. The engine is coupled with the rear wheel and the jack shaft. The jack shaft is configured to selectively couple the engine with the front wheel.

Abstract: A swing arm support system for automated irrigation systems has a support hub and a means to attach and operate two wheels to opposite sides of the support hub. The support hub provides greater ground flotation to prevent the forming of ruts in a field and traction to prevent an automated swing arm from becoming stuck. The swing arm support system provides for the use of common automated irrigation components so that fabrication, repair and operation are most efficient. The support hub in pivotally attached to an existing swing arm support tower. The support hub is carried by two pneumatic tires in one embodiment, four tires in another embodiment, six tires in another embodiment, and movable tracks in another embodiment.

Abstract: An amphibious all terrain vehicle having a body and at least three wheel and axle assemblies on each side and a pair of ground engaging track assemblies which are mounted on tires on either side of the vehicle. Each of the wheel and axle assemblies include an axle shaft supported by and positioned transverse to the vehicle body so that the wheel and axle assemblies form a front assembly, a rear assembly and at least one middle assembly. Each of the axle shafts has an axle extension with the axle extensions of the front and rear wheel and axle assemblies being fixed extensions and the axle extensions on at least the middle assemblies are idler axle extensions to permit the wheels on such assemblies to move in a free wheeling mode relative to their respective axle shafts.

Abstract: A power transmission device for a four-wheel drive vehicle includes an input shaft adapted to be driven by a power source. A first output shaft is rotatable about a first axis and adapted to transmit torque to a first driveline. A second output shaft is adapted to transmit torque to a second driveline and is rotatable about a second axis. The first and second axes diverge from one another. A transfer unit includes a drive member driven by the first output shaft and a driven member driving the second output shaft. A spline coupling is positioned within a cavity formed in the driven member to drivingly interconnect the driven member and the second output shaft. The second output shaft is axially moveable relative to the driven member.

Abstract: An all-terrain vehicle including a frame having longitudinally-spaced ends defining a first longitudinal axis, and an engine supported by the frame. The engine includes a crankshaft defining a second longitudinal axis substantially parallel to the first longitudinal axis.

Abstract: A power take-off support portion, including a shaft hole and an outer side surface formed around the shaft hole, is formed on a transaxle housing. The outer side surface of the power take-off support portion is shaped to fit a power take-off casing supporting a power take-off shaft in a first direction. A power take-off casing includes a power take-off main casing member and a base casing member joined to each other. The base casing member is formed with an inner side surface and an outer side surface. The inner side surface and the outer side surface of the base casing member are shaped so that the power take-off shaft supported by the power take-off main casing member is oriented in a second direction different from the first direction when the inner side surface of the base casing member is fitted to the outer side surface of the power take-off support portion, and the outer side surface of the base casing member is fitted to the inner side surface of the power take-off main casing member.

Abstract: A drivetrain for an all-wheel drive motor vehicle which includes a longitudinally arranged central transmission, a transfer box, a Cardan shaft and two drive axles arranged normal to the direction of travel. The transfer box includes a central differential, an input and two output shafts. The input shaft of the central transmission communicates with an engine crankshaft. The transfer box input shaft is connected to an output shaft and an input element of the central differential. The first output shaft of the transfer box is connected to a first output element of the central differential and the first drive axle. The second output shaft of the transfer box is actively connected to a second output element of the central differential and to the second drive axle. The two output shafts of the transfer box are coaxially arranged at an angle to the output shaft of the central transmission.

Abstract: In a vehicle powertrain that continually transmits power to a first set of vehicle wheels and selectively transmits power through a clutch to a second set of vehicle wheels, a method for controlling the clutch includes determining that brakes for slowing the vehicle wheels are applied and that an accelerator pedal of the vehicle is depressed less than a reference magnitude, determining that the rate of change of the average front wheel speed is greater than the rate of change of the average rear wheel speed, and setting the torque capacity of the clutch to a target magnitude.

Abstract: In a four-wheel drive vehicle, front wheels 14L and 14R are driven by an engine 1, and rear wheels 15L and 15R are driven by an electric motor 5. A high-power alternator 2 is driven by the engine 1, and electric power generated from the alternator 2 drives the motor 5. In addition to controlling the power generation of the high-power alternator 2 and the driving of the motor 5, a 4WD CU 100 estimates an induced voltage E of the motor 5 from a voltage MHV of the motor and from an output current Ia of the high-power alternator, and estimates a rotating speed Nm of the motor from estimation results on the induced voltage E.

Abstract: An all-terrain or utility vehicle having various combinations of left and right front wheels, left and right rear wheels, a differential rotationally variably coupling the left and right front wheels together with a variable coupling torque and a source of motive power being selectively coupled to the left and right rear wheels in one configuration and coupled to the left and right front wheels as well as to the left and right rear wheels in a second configuration. The coupling torque is relatively stronger when a speed of the vehicle is relatively slower and is relatively weaker when the speed of the vehicle is relatively faster.

Abstract: A running vehicle has front and rear driving wheels, and a sensor for measuring the acceleration of the running vehicle. The vehicle determines a distribution rate of torque to each of the driving wheels in accordance with the found acceleration, and changes driving torque to each of the front and rear driving wheels based on the found distribution rate to control driving motors.

Abstract: A method for operating a drive train of a vehicle with a drive engine, a brake system, at least two vehicle cross-shafts of a first vehicle axle with at least two wheels. The cross-shafts being actively connected via a transverse distributor gear and being driven by the engine. The vehicle also possibly having a second vehicle axle with at least two wheels. Frictional shift elements of the first vehicle axle, between the wheels of the first vehicle axle and the transverse distributor gear, are provided for variable distribution, to the first vehicle axle, of the fraction of the drive torque from the engine in the transverse direction of the vehicle between the two wheels. A desired yaw torque is determined. The drive engine, brake system and shift elements are controlled such that the desired yaw torque is produced essentially without changing the positive forward drive of the vehicle.