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Automatic identification of road profiles ensures primarily right working condition of an anti-lock braking system (ABS). This paper presents a practical strategy to identify road conditions according to braking pressure, wheel slip ratio and angular deceleration. A fuzzy controller is designed to follow the target wheel slip ratio determined by road conditions. Simulation tests have been undertaken respectively on single and variable adhesion road surfaces by using a 7-DOF nonlinear vehicle model, accounting for nonlinearity of suspension and tire. It is shown that the ABS fuzzy controller can identify changes of road conditions precisely and therefore modulate the control scheme, so as to obtain the maximum road friction and good lateral stability. In comparison with a conventional PID controller, the present fuzzy controller possesses of more robustness and better performance.