Abstract: An electronic control unit adjusts the pressure in the brake cylinders of at least one axle during the braking process on the basis of measured static and dynamic loads at the other axle.

Abstract: A brake system including an anti-skid apparatus with an electronic control unit for monitoring the grip of the vehicle tires on the road. It is also equipped with a yawing moment attenuator, controlled by the control unit, that in the event of highly varying coefficients of friction prevents an excessively great difference in brake pressure on the two sides of the vehicle. Tractor or towing vehicles driven without the trailer, especially semitrailer trucks, are difficult to control on road surfaces with variable grip, because of the major yawing and steering moments. The tractor or towing vehicle is therefore equipped according to the invention with a trailer detection unit, the signal of which is evaluatable in the control unit and can be fed as a control variable to the yawing moment attenuator. If the truck is driven without a trailer, the yawing moment attenuator can be controlled on the basis of this signal in such a way as to lessen the difference in brake pressure.