Abstract: In an adaptive braking system for wheeled vehicles such as automobiles a braking force attenuator and logic are provided to automatically reduce braking force if, during braking, wheel skid becomes imminent, as evidenced by power train dynamic performance with respect to certain first criteria. Subsequently, braking force is increased if power train performance satisfies certain other criteria, at which time the first criteria is altered and then allowed to return to original levels so that during the alteration period the power train dynamic performance must be more indicative of imminent wheel skid than otherwise required to reduce braking force.