Example: Understeering Restraint Control (4WD Model: i-AWD Mode Condition)
WARNING: This page is about a different car, the 2010 Suzuki Kizashi. However, it is still accessible from the selected car via links, so may be relevant.
When vehicle front wheels side out during cornering the actual yaw rate is lower than the target. BCM judges that understeering (tendency for front wheels to skid) has occurred and the following vehicle dynamics synthetic control is carried out.
BCM sends 4WD coupling torque request (rear wheel traction torque increase request) to 4WD control module based on understeering level via CAN communication. This increases the rear wheel traction torque and reduces the influence of traction force at the front wheels, and this inhibits understeering.