Patent ID: 7801657

Claim:
A control system for a vehicle having first and second wheels, comprising: a differential apparatus adapted to distribute torque between the first and second wheels; a stability-enhanced traction controller for controlling operation of the differential apparatus from vehicle launch up to a predetermined vehicle speed, the traction controller configured to engage the differential apparatus in a first vehicle operating state according to at least one vehicle operating parameter indicative of a low traction operating condition and to further control engagement of the differential apparatus in a second vehicle operating state during the low traction operating condition according to a difference between an actual vehicle yaw rate and a predetermined target vehicle yaw rate; and a stability controller for controlling engagement of the differential apparatus at or above the predetermined vehicle speed; wherein the traction controller is configured to engage the differential apparatus according to a desired differential applied torque signal that is based on a modified original differential applied torque signal; wherein the desired differential applied torque signal is equal to the original differential applied torque signal multiplied by a modifier, the modifier including in its numerator the difference between an error range value and the multiplication of a saturation function, a deadband and the difference between the actual vehicle yaw rate and the predetermined target vehicle yaw rate, and the modifier including in its denominator the error range value.