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  • A method according to claim 10, further comprising, during the brake pressure control phase, determining the brake pressure Pmin in accordance with the realtionand PS is determined in accordance with the relation ##EQU6## where K is a constant,FZ is the wheel load,PF is a safety faction (<1),CP is the mean slope of the hysteresis between brake pressure and braking torque, andr is the tire radius.1
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