parallel 100 process begins and proceeds to measure wheel velocities 104 wherein wheel velocity signals are obtained from the wheel velocity sensors 44 the parameters of velocity cornering radius and lateral acceleration are then calculated 106 specifically the vehicle velocity is determined by averaging the wheel velocity signals during cornering the inner wheels track a smaller turning radius that the outer wheels and as a result the inner wheels move more slowly than the outer wheels cornering radius is calculated utilizing the difference between the wheel velocity signals from the front non driven axle 62 and the horizontal distance between the left and right front wheels the lateral acceleration of the vehicle is calculated from the vehicle velocity and the cornering radius a comparison is then made to compare the absolute value of the lateral acceleration to a predetermined lateral acceleration threshold limit if the lateral acceleration threshold limit is not exceeded the process then goes back to the measuring wheel velocities and recalculates the lateral acceleration if the lateral acceleration exceeds the predetermined lateral acceleration threshold limit the ecu 42 proceeds to measure 110 an engine revolution signal from the engine revolution sensor 46 and an engine load signal from the engine load sensor 48 the ecu 42 calculates 112 the gear ratio by dividing the angular engine velocity by the average of the angular wheel velocities and the ecu 42 calculates the drive torque on the driven axle utilizing the engine load and the gear ratio a.