Method of improving ABS control behaviour on cornering

A method of improving the control behavior of an ABS control system for a four-wheel, two-axle vehicle comprising the steps of:

• measuring individual wheel speeds;
• deriving a reference speed of the vehicle;
• obtaining criteria for identifying a cornering situation and the direction of the curve from the rotational behavior of the vehicle wheels;
• applying a special control mode when a cornering situation is identified, said special control mode causing a reduction of the braking pressure on at least one of the curve-inner wheels in a partial-braking range, with a threshold value of the wheel speed difference being exceeded which difference is the difference between the wheel speed sums per side formed from the speeds of the two wheels of each side of the vehicle;
• and
• maintaining the special control mode until there is a drop below the threshold value and below a hysteresis band (H),
• wherein the threshold value is varied in dependence on the vehicle reference steed, by decreasing approximately linearly with the vehicle speed in a lower range, increasing approximately linearly with the vehicle speed in a medium speed range and being approximately constant in an upper speed range.