Patent ID: 6859712

Claim:
A method of operation for a vehicle braking system including a driver activated brake pedal, a hydraulic brake pressure modulator, and an anti-lock brake control that activates the brake pressure modulator to modulate vehicle braking upon detection of an insipient wheel lock condition, the method comprising the steps of: periodically measuring vehicle deceleration and a brake pedal position during activation of the braking system when said insipient wheel lock condition is not detected; identifying conditions of degraded braking effectiveness based on the periodically measured deceleration and brake pedal position; adaptively adjusting a brake hydraulic pressure control parameter of said anti-lock brake control when a condition of degraded braking effectiveness is identified so as to compensate for the identified condition; and wherein the condition of degraded braking effectiveness is determined by computing a rear speed difference between at least one front tire and at least one rear tire and comparing it to a pedal position dependent threshold value.