effect because of the low mu conditions moreover a brake intervention from a conventional stability anti skid control system may not be able to bring the vehicle back to the desired lane of travel in particular this may be the case if the stability anti skid control system is activated at the same time as an anti lock brake system abs is engaged on all wheels of the vehicle in fig1 b the controller in order to bring the vehicle back to the desired lane of travel reduces the braking forces applied to at least one of the wheels on the side of the vehicle opposite to the desired turning direction as commanded by the driver of the vehicle the left hand side of the vehicle in this example in order to enable this functionality friction between the road 12 and the wheels of the vehicle 10 as well as a road gradient downhill may be detected although the functionality in other embodiments may be enabled when there is no road gradient downhill the combination of low friction and a road gradient downhill is likely to give the vehicle a considerable or infinite stopping distance this means that the risk of hitting an obstacle will increase significantly during low friction when travelling downhill as compared.