Co-operative control system for a vehicle

A co-operative control system for a vehicle having a force distribution device for distributing at least one of a driving force and a braking force between spaced apart wheels, the co-operative control system comprising:

• a first control means for controlling operation of the force distribution device;
• an electric power steering device having a motor for applying a steering assist torque to a steering system of the vehicle;
• and a second control means for calculating a motor control signal for driving the motor based on at least a steering torque signal detected by a steering torque detecting means, and for inhibiting drive of the motor based on at least a motor drive signal calculated based on the motor control signal and the steering torque signal, wherein:
• the first control means calculates a correction signal for correcting said motor control signal based on an amount of control of the force distribution device and an offset signal for correcting the motor drive signal;
• the second control means drives the motor based on a corrected motor control signal obtained by correcting the motor control signal with the correction signal, and inhibits the drive of the motor based on a value obtained by correcting the motor drive signal with the offset signal and the steering torque signal;
• and said offset signal being set smaller than a value obtained by converting said correction signal into an amount of motor drive.