ABS-or. Anti-slip fault tolerance for failure of a speed sensor

For the determination of the actual vehicle speed approximate reference speed (v¶ref¶) are to be measured for each wheel speed (v¶i¶) at least two wheel sensors (8, 9; 10, 11). At the reference speed detection while all existing wheel sensors (8-11) are evaluated, but the reference speed (v¶ref¶) is currently always focused only on existing wheel sensors (8-11). The selection of the currently relevant for the reference velocity detecting wheel sensor (8-11) is effected in dependence on the current driving state and at least one preset speed criterion. there is always at least one sensor is available for the control of each wheel, even if a sensor is faulty.