Table 1: Fuzzy-rule table for the braking force distribution.

K		Z
		MS	S	M	B	MB
SOC	VS	VB	VB	MB	MB	VS
	MS	VB	MB	MB	B	VS
	S	VB	MB	B	B	VS
	M	MB	MB	MB	B	VS
	B	MB	B	M	S	VS
	MB	B	M	S	MS	VS
	VB	M	S	MS	VS	VS