The vehicle is fitted with sensors to determine instability eg. drift during cornering. The control selectively applies the front and rear brakes to correct the drift. The control system has an added mode of control to prevent hunting of the braking system which, when applied near the resonant frequencies of the vehicle dynamic state, could cause additional instability. The control system limits the maximum rate at which the brakes are applied and varies this rate w.r.t. the vehicle dynamic state ie. the steering setting and the vehicle speed etc. The control has different threshold values when the brakes are not applied, which are reduced as soon as braking begins.
