Most motor vehicles operating on our highways today are designed to exhibit high levels of straight-line braking performance without providing sufficient stability during combined braking and steering maneuvers. A basic engineering analysis is presented that allows optimum values of brake balance to be determined for both straight and curved braking. The effects of brake fade on brake balance are discussed. Different wheel antiskid systems are analyzed, and test results are presented for three domestic vehicles. A methodology for determining expected safety benefits of advanced brake systems is reviewed.