Abstract: A method of automatically controlling a braking system for an automotive vehicle, by changing a plurality of control parameters in at least two steps, depending upon a determined one of three or more ranges of a variable in which a detected value of the variable falls. At least one of the control parameters is changed in two steps corresponding to two adjacent ranges of the variable, while at least one of the other control parameter or parameters is kept unchanged for the two adjacent ranges of the variable. The variable may be a deceleration rate of the vehicle, or other variables which are changed with a coefficient of friction between a vehicle wheel and the road surface.