Abstract: Braking efficiency is unsatisfactory on split-mu road surfaces for vehicles equipped with conventional anti-lock braking systems. Conventional four-channel ABS braking on this type of road surface causes the vehicle to deviate from the desired direction, and three-channel ABS increases stopping distance. An active front steering control was designed to improve lateral stability while braking on split-mu road surfaces with four-channel ABS, thereby producing maximum braking force. A full function vehicle model was designed and assembled, and dynamic analysis was performed using multi-body dynamics software and Simulink for split-mu road surfaces where one side of the road was a strip of ice and the other side dry asphalt. Simulation results show that active front steering improves vehicle lateral stability under braking on split-mu road surfaces.