Abstract: A method for controlling the brakes in an automotive vehicle. The vehicle has a velocity and a plurality of wheels, each wheel having an angular velocity and a brake which is operable by applying a pressure agent to the brake. An amount of the pressure agent to be applied to, or released from, each brake, individually, to implement a desired braking operation is determined. Switching times corresponding to the amounts of the pressure agent are calculated for opening and closing the inlet valve or outlet valve of each respective brake, individually. An estimated vehicle velocity and an estimated wheel angular velocity which result from applying the pressure agent to the brakes are determined. The actual velocity of the vehicle and the actual angular velocity of the wheels are determined by measuring the angular velocity, and determining the velocity based on the measurement.