apparatus for improving the driving behavior of a vehicle is provided . the vehicle has front and rear axles , each having a plurality of wheels . each wheel has a brake . sensor are provided for measuring the rotational speed of each wheel , the vehicle yaw rate and the vehicle lateral acceleration . an anti - lock braking system provides first preset pressure values for controlling each brake , to prevent the wheels from locking during braking . a traction slip control system provides second preset pressure values for controlling each brake , to prevent the wheels from slipping during acceleration . a brake effort proportioning system provides third preset pressure values for distributing braking pressure between the wheels of the front axle and the wheels of the rear axle . a yawing moment controller provides fourth preset pressure values used to control each brake during cornering , to avoid application to the vehicle of an unbalanced moment which would cause the vehicle to understeer or oversteer . the antilock braking system , traction slip control system , brake effort proportioning means and yawing moment control system all operate independently of one another . a prioritizing mechanism applies criteria to determine a desired brake pressure that is applied to each wheel , based on the outputs of the antilock braking , traction slip control , brake effort proportioning , and yawing moment control systems .