To determine the free-rolling wheel peripheral speed V.sub.fRi, the brake pressure at one wheel is reduced at various times and the wheel speed and the braking force at this wheel are then determined. Using the steering angle, the yaw rate and the skew running angle, the speed of the free-rolling wheel...http://www.google.co.uk/patents/US5402345?utm_source=gb-gplus-sharePatent US5402345 - Method for estimating speed of a braked vehicle
