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In order to comply with the increasing demands on active safety, the commercial vehicle manufacturers have intensified the development work in the field of braking systems. The safety-relevant subsystems are “anti-lock system”, “retarder” and “engine braking system”. These systems were subject of a continuous optimization during the last years. Describing the influence of these subsystems on the steering and braking performance of commercial vehicles, it can be shown that this optimization was able to significantly increase the active safety of commercial vehicles. But it is also evident that the realized improved braking ability now demands an intelligent electronic control system which integrates the subsystems in a way that both stopping distance and vehicle stability during braking are optimized. This full-electronic braking system will lead to a further increase in safety and economy of commercial vehicles.