Abstract: A vehicle anti-lock brake system determines when an ABS failure condition has occurred, configures a failure condition operating mode of the ABS control, and, finally, activates the ABS control based on the failure condition operational mode. When a brake actuator failure occurs, this allows the system to configure the failure condition operating mode to exclude the wheel having the failed brake actuator. Alternately, the system may configure the failure condition operating mode to exclude wheel speed data when an invalid wheel speed indicator is determined for a wheel.

Abstract: A method of operating a vehicle anti-lock brake system is disclosed. The method includes determining an ABS failure condition has occurred, configuring a failure condition operating mode of the ABS control and, finally, activating the ABS control based on the failure condition operational mode. A computer readable medium storing a computer program for operating a vehicle ABS control is also described. Computer readable code for determining that an ABS failure condition has occurred, configuring a failure condition operating mode of the ABS control, and then activating the ABS based on the failure condition operational mode is described. A vehicle including an anti-lock brake system configured for operation when a failure condition occurs is described. Operating the anti-lock brake system comprises determining an ABS failure condition has occurred, configuring a failure condition operating mode of the ABS, and activating the ABS based on the failure condition operational mode.