The method is designed for a motor vehicle equipped with wheel rpm sensors
and means to determine whether the wheels are either rolling normally or
locked or spinning without adhesion. The method employs plausibility
routines to determine whether an abnormal wheel rpm sensor signal is due
to locking or spinning of the wheel or whether it is due to a sensor
failure. In case that an abnormal condition is detected, an alternate
strategy is initialized to determine wheel rpm rates and perform control
functions that are based on wheel rpm rates.
