The steering control characteristics of the vehicle are determined by the difference in the actual slew measurements and the computed measurements. The driven wheels are monitored and correction applied to compensate for wheel spin, either by reducing the engine torque and/or by individual braking control. The slew monitoring takes into account the steering settings of the front- and rear wheels. The control system optimises the torque correction to minimise same if the differences between actual- and programmed slew values are large. The wheel spin levels are compared with programmed values for the different dynamic conditions of the vehicle to provide the control signals for the correction. These corrections are also linked to the differences in the actual- and programmed slew values.
