Vehicle control system with electronic control unit for individual wheel braking torque control

The control system for selective braking of wheels in a car with an electronically controlled drive system comprises monitoring the rpm of each wheel to detect wheel slip. At least one drive parameter which indicates yawing is also monitored. When wheel slip on one axle and yawing are detected the engine moment is reduced below a predetermined value and the brakes are applied to the wheels on the other axle to increase the braking moment to the same value.