An ABS device comprising an arbitrary number of first sensors (15, 16) capable of obtaining road surface frictional force information corresponding to the road surface frictional force (F) working between the wheels of a vehicle and the surface of the road on which it is traveling and braking torque information corresponding to the braking torque (T) working between the wheels of the vehicle and its braking system; difference parameter (M) calculating means (21) for calculating M corresponding to the difference between the road surface frictional force information and the braking torque information from these first sensors (15, 16); and solenoid valve control means (23) for stopping, after reduction of the brake fluid pressure is started during the operation of the braking system, the pressure reduction when the value of M reaches a second threshold which is either equal to or slightly smaller in absolute value than a first threshold corresponding to the peak value of M.