In a vehicle with an active brake control system a control method comprising to the steps of: determining individual wheel speeds of the vehicle wheels responsive to sensor output signals (1016, 1018); determining a vehicle reference velocity responsive to the individual wheel speeds (1002-1012); measuring vehicle yaw rate (1128); determining a delta velocity for each wheel responsive to the individual wheel speed for the wheel and the vehicle reference velocity (326); and when the active brake control system is in the active state for at least one of the wheels, (a) setting a base delta velocity for the one wheel equal to the delta velocity for the one wheel immediately prior to the active brake control obtaining the active state for the one wheel (200); (b) determining a control term responsive to the measured vehicle yaw rate (806), wherein the control term represents a desired delta velocity for the one wheel; (c) setting a first target change in delta velocity responsive to the base delta velocity and the control term (204); and (d) controlling a first wheel brake for the one wheel so that a difference between the delta velocity for the one wheel and the desired delta velocity for the one wheel is minimized (208).