Patent ID: 6984005

Claim:
In a vehicle having at least one drive axle and at least one non-driven axle, said at least one drive axle and said at least one non-driven axle including wheels, said vehicle further having an anti-lock brake system, an anti-slip regulation system including at least one valve for controlling the delivery of brake pressure from a source of said pressure to at least one brake cylinder of said at least one drive axle, at least one further system constructed and arranged to automatically brake said vehicle by braking said at least one drive axle via said at least one valve of said anti-slip regulation system, and an electronic control unit for controlling said anti-lock brake system, said anti-slip regulation system and said at least one further system, a method for braking said vehicle comprising the steps of determining wheel speeds associated with said at least one non-driven axle and wheel speeds associated with said at least one drive axle, comparing said wheel speeds associated with said at least one non-driven axle with said wheel speeds associated with said at least one drive axle, and providing brake pressure in response to driver braking demand to said at least one brake cylinder of said at least one drive axle irrespective of any automatic braking by said at least one further system when at least one of said wheel speeds associated with said at least one non-driven axle is less than said wheel speeds associated with said at least one drive axle by at least a pre-defined value.