The brake control system has a parallel tandem master cylinder layout which has a first brake circuit for the front wheels and a second brake circuit for the rear wheels. During braking a first brake pressure control system produces a brake pressure in response to the setting of the brake pedal and a second brake pressure control system produces a second brake pressure related to the first system. The brake control selects the brake pressure most appropriate to the dynamic situation of the vehicle. The two front wheels are braked via separate control valves which modulate the brake pressures for dynamic control. If the vehicle dynamic system detects oversteer or understeer, the brake control is set to the modulated setting and the two front wheels are brakes differently. The cornering position of the vehicle is derived from the steering setting.
