Abstract
Recently there has been a growing tendency to apply an ABS to an articulated vehicle. But we still have many problems in vehicle stability. This paper shows at the first step, how the articulated vehicle in braking behaves, and the second, shows a controlling method to improve braking stability before and after the wheel lock is taking place. Analyses were carried out in couple of cases; a constant radius turn and a μ-split-road surface. We have a conclusion that the ABS proposed here with yawing mement control and load sensing control makes the articulated vehicle more stable than only the conventional ABS in various conditions.