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" ... In the course of developing the traction control algorithms, I noticed some patterns in the wheel speed behavior that were consistent with the car oversteering or understeering. I put together an algorithm to detect these conditions and used the traction control to create a rudimentary stability control system about five years before the first such systems came to market. Over the course of a week or two, we got the system working reasonably well on a handling course carved out of the snow on a frozen Swedish lake. ... "