Braking arrangement and method for adjusting brake pressure in a braking arrangement including an anti-lock brake system

A method for changing performance of a braking arrangement for a vehicle, the vehicle and braking arrangement comprising a source of pressurized air for supplying pressurized air, a wheel comprising a tire and a first pneumatic brake arrangement, the first pneumatic brake arrangement including a brake chamber and a brake, and an anti-lock brake valve (ABV) in a line between the brake chamber and the source of pressurized air, the ABV opening to connect the brake chamber to the source of pressurized air and closing to disconnect the brake chamber from the source of pressurized air, the method comprising:

• opening and closing the ABV during an anti-lock braking operation to supply and stop supplying, respectively, air from the source of pressurized air to the brake chamber;
• and
• opening the ABV during the anti-lock braking operation in response to a pressure at an inlet port of the ABV and a slippage between the tire and a road surface;
• wherein the method is adjusting an opening timing of the ABV relative to a pressure wave generated in the line when the ABV closes, the adjustment being a function of an estimated friction coefficient between the tire and the road surface, such that:
• in a first mode, opening the ABV when the pressure wave is at or arriving at the inlet port;
• and
• in a second mode, opening the ABV when the pressure wave is moving away from the inlet port.