A method of vehicle stability control including the steps of: a) applying a test braking pulse to a wheel on a first side of the vehicle and to a wheel on a second, opposite, side of the vehicle, b) measuring the rotational speed of both wheels during the test braking pulse, c) calculating a change in wheel speed during the test braking pulse for each wheel, d) calculating the difference between the change in speed of the wheels, e) carrying out a stability control intervention if the difference exceeds a predetermined threshold, f)ceasing the test braking pulse if the difference over the first period of times is less than a predetermined level, and g) continuing the test braking pulse for a second period of time if the difference over the first period of time is greater than the predetermined level.