A control device mounted on a four-wheel drive vehicle includes: a slip ratio calculating unit that obtains a slip ratio of main driving wheels based at least on wheel speeds; a smoothing unit that smooths the slip ratio by filtering; and a driving force control unit that controls a driving force transmission device so that a driving force that is transmitted to auxiliary driving wheels increases as the slip ratio smoothed by the smoothing unit increases. The smoothing unit uses a larger time constant for the filtering when a vehicle speed is less than a predetermined value than when the vehicle speed is equal to or higher than the predetermined value

A method for operating a motor vehicle which is equipped with a driving dynamics control system by which individual wheels of the motor vehicle can be braked in a targeted manner. In order to prevent the occurrence of undesirable noises during maneuvering of the motor vehicle, during a maneuvering operation, in which two front wheels are turned with a large wheel lock, wherein friction occurs at the front wheels because of ground contact, one of the wheels is influenced in a targeted manner in order to pull or to force the motor vehicle onto a smaller turning circle during the maneuvering.

A control device mounted on a four-wheel drive vehicle includes: a slip ratio calculating unit that obtains a slip ratio of main driving wheels based at least on wheel speeds; a smoothing unit that smooths the slip ratio by filtering; and a driving force control unit that controls a driving force transmission device so that a driving force that is transmitted to auxiliary driving wheels increases as the slip ratio smoothed by the smoothing unit increases. The smoothing unit uses a larger time constant for the filtering when a vehicle speed is less than a predetermined value than when the vehicle speed is equal to or higher than the predetermined value

A method for monitoring a vehicle, the vehicle comprising a control unit and an air suspension system, the air suspension system comprising pressure sensors configured to provide data representative of operating pressures of the air suspension system. To improve the monitoring of the vehicle, the method comprises determining a centre of mass of the vehicle by the control unit on the basis of data provided by the pressure sensors at least once during operation of the vehicle.