...and the 4-wheel-drive part is kind of a cheat; the rear wheels are powered by an electric motor. It's only sold in northern Japan where it gets really snowy. The system is actually designed by Hitachi and is used on some Nissan models too:
http://www.hitachi.com/rev/field/electronics/__icsFiles/afieldfile/2004/11/26/r2004_04_102_3.pdf
http://www.hitachi.com/rev/field/electronics/__icsFiles/afieldfile/2004/11/26/r2004_04_102_3.pdf