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A new 4WD systen called the “ATTESA E-TS” has been developed based on a new approach to traction control. The E-TS system employs electronic control to achieve an optimm torque split ratio between the front and rear axles. This system is designed not only to deliver high tractive performance, but also to improve cornering performance under various road-surface friction coefficients and engine outputs. It consists of a transfer unit containing a multiplate clutch, a hydraulic unit, and a control system which is integrated with an anti-lock brake system and employs a wheel speed sensor at each wheel as well as a lateral acceleration sensor.

Various driver assistance systems have been developed for maintaining a vehicle in its lane. For example, systems that apply force to the steering gear to help the driver keep the vehicle in the center of its lane are becoming popular. On the other hand, direct yaw-moment control systems have been developed for use in stabilizing the vehicle in extremer conditions where loss of control is detected. This paper deals with a system for aiding drivers in recovering from lane departure and maintaining the vehicle in its lane by utilizing direct yaw-moment control. The system uses a CCD camera to recognize lane makers and detects lane departures based on the positional relationship between the vehicle and the lane. When a lane departure is detected, the system applies force to the wheels to generate a yaw moment in the vehicle, so that it turns towards the original lane.