EP0522615

An algorithm is provided for improved lateral force during cornering while in antilock braking mode. For each wheel, the peak slip value at which maximum adhesion between tyre and road occurs is determined, and the peak value is reduced by offsets (or factors) to increase lateral force according to the cornering manoeuvre in progress to derive a target slip value. A cornering offset and an evasive offset are functions of steering wheel angle and steering wheel rotation rate, respectively, and of vehicle deceleration. When slip is determined using average vehicle speed, a geometry correction term which is a function of steering angle, vehicle speed and deceleration is added to the target value. The offsets and the correction term have different values for inside and outside wheels.