Braking control for all-wheel drive vehicles with viscous clutch

A method for controlling a braking system in an all-wheel drive vehicle having a viscous coupling or a viscous lock, wherein a viscous torque (MDiffK) acting on a wheel is estimated, the viscous torque (MDiffK) is taken into account in estimating a desired braking pressure Ps for the wheel, and the desired braking pressure Ps is applied to the wheel.