The actuation of the new 4MATIC follows the basic principle of "as often as necessary, as seldom as possible". If circumstances allow, the all-wheel models are driven almost entirely in the highly economical front-wheel drive mode. If the driving situation demands, drive torque is rapidly adjusted at the rear axle. However, as soon as additional torque on the rear axle is no longer required, for example in the case of strong braking where the ABS comes into play, the rear drive train is deactivated and the torque reduced to zero. If there is a risk of understeering or oversteering under load, the torque is first distributed so that the vehicle is stabilised again. If this is not enough to stabilise the vehicle, the ESP® or 4ETS control systems, which are adapted to 4MATIC operation, help to keep the vehicle on course.