The present invention relates to an electronic 4WD system having reinforced ABS cooperative control performance, in which an ABS ACT signal by an ABS (Anti-Lock Brake System) controller and a 4WD_OPEN signal by the ESC (Electronic Stability Control) controller are used. When the ABS ACT signal and the 4WD_OPEN signal are recognized, it is determined that it is an ESC vehicle and a 4WD mode is stopped. When only the ABS ACT signal is recognized, it is determined that it is an ABS vehicle and the intention of a user is determined on the basis of whether a brake pedal has been pressed down or an accelerator pedal has been released, and then a 4WD mode is stopped.