A braking system and a method for braking a vehicle

摘要

A braking system and method for a vehicle having a set of wheels and being controlled by an ABS system comprising wheel speed sensors at each wheel is provided. Braking performance is improved by an additional torque, generated from at least one wheel torque actuator (217), being selectively added or subtracted individually to each wheel during braking wherein distribution and synchronisation of braking force are controlled by a Central Brake Control (201) and a Brake Blending Control (207) depending on input from information-collecting unit (203, 205) giving information of car status, wheel status and tire status. The invention also includes a vehicle comprising the inventive braking system.