Vehicle brake device provided with electronics for determining a vehicle referencespeed

Vehicle braking system has wheel sensors, connected to electronics, for determining a reference velocity that approximates the actual vehicle velocity as near as possible. Each wheel or wheel group has at least two wheel velocity sensors (8, 9; 10, 11). To calculate the vehicle reference velocity the velocity of each sensor is continuously determined, but only one value is chosen, according to driving conditions and preset speed criteria, at any one time to represent the velocity. The sensor velocity used depends on vehicle driving state, thus during braking the minimum velocity from each of the sensor pairs is taken, then from the two minimums the maximum value is used as the reference velocity. Equally when the vehicle is not braking the two maximum values are selected and from the two, the minimum value is chosen as the vehicle reference velocity value.