Drive Force Distribution Control

Controlling drive force distribution to the wheels of a four-wheel vehicle using a drive force distribution between first and second sides of the vehicle, decided via determination of a grip force margin for each side indicative of the amount by which horizontal forces may be increased before they exceed a skidding threshold S3, the drive force distribution q being changed S4 in a direction in which a fictitious moment, which would be caused by the grip force margins acting on the sides of the vehicle in a same transversal direction, is minimized