A method for determining a maximum cornering braking threshold for a motorcycle that is cornering comprising: determining (62; 22) an absolute lean angle (a-h) relative to horizontal where horizontal is defined relative to gravity and not a slope (s) of a road surface ; determining a relative lean angle (a-s) for the motorcycle relative to the road surface ; determining a coefficient of friction from video data from a video sensor mounted on the motorcycle ; determining a type of road from the video data; sensing front wheel speed; sensing rear wheel speed; determining a motorcycle speed and a wheel slip coefficient from the front wheel speed and the rear wheel speed; and sensing a steering angle of the motorcycle using a steering angle sensor ; determining the maximum cornering braking threshold based on the absolute lean angle (a-h), the relative lean angle (a-s), the wheel slip coefficient, the coefficient of friction, the type of road and the steering angle; and preventing the motorcycle from exceeding the maximum cornering braking threshold during cornering; wherein the determining of the maximum cornering braking threshold includes using a multi-dimensional look-up table storing a plurality of values for absolute lean angles (a-h), a plurality of values for relative lean angles (a-s), a plurality of values for the coefficient of friction, different types of road, a plurality of values for the wheel slip coefficient and the motorcycle speed, a plurality of values of the steering angle, the multi-dimensional look-up table having different maximum cornering braking thresholds based on the value of the absolute lean angle, the relative lean angle, the coefficient of friction, the type of road, the wheel slip coefficient and the motorcycle speed, and the steering angle. determining (62; 22) an absolute lean angle (a-h) relative to horizontal where horizontal is defined relative to gravity and not a slope (s) of a road surface ; determining a relative lean angle (a-s) for the motorcycle relative to the road surface ; determining a coefficient of friction from video data from a video sensor mounted on the motorcycle ; determining a type of road from the video data; sensing front wheel speed; sensing rear wheel speed; determining a motorcycle speed and a wheel slip coefficient from the front wheel speed and the rear wheel speed; and sensing a steering angle of the motorcycle using a steering angle sensor ; determining the maximum cornering braking threshold based on the absolute lean angle (a-h), the relative lean angle (a-s), the wheel slip coefficient, the coefficient of friction, the type of road and the steering angle; and preventing the motorcycle from exceeding the maximum cornering braking threshold during cornering; wherein the determining of the maximum cornering braking threshold includes using a multi-dimensional look-up table storing a plurality of values for absolute lean angles (a-h), a plurality of values for relative lean angles (a-s), a plurality of values for the coefficient of friction, different types of road, a plurality of values for the wheel slip coefficient and the motorcycle speed, a plurality of values of the steering angle, the multi-dimensional look-up table having different maximum cornering braking thresholds based on the value of the absolute lean angle, the relative lean angle, the coefficient of friction, the type of road, the wheel slip coefficient and the motorcycle speed, and the steering angle. <EOS>