Method of improving ABS control behavior

A method of improving the control behavior of an anti-lock control systems of a four-wheel, two-axle vehicle, comprising the steps of:

• A) measuring individual wheel speeds;
• B) deriving a vehicle reference speed from the rotating behavior of the vehicle wheels;
• C) obtaining criteria for identifying a cornering condition and the direction of the curve therefrom including the substeps of;
• (i) generating filtered wheel slip values for each wheel by determining
• a slip differential value between the momentary wheel slip and the filtered wheel slip and
• a slip summation value which is formed by integrating the difference between the momentary wheel slip and a predetermined permissive slip value, and
• (ii) using the slip differential value and the slip summation value to determine a value representing at least one of the angular slip of the wheel and the wheel transverse dynamics
• D) analyzing at least one of said angular slip of the wheel and said wheel transverse dynamics for identifying said cornering condition, and wherein the cornering condition is further determined by comparing the angular slip values of the individual wheels of the automotive vehicle.