Any idea how to make an anti-lock braking system a.k.a. ABS?

Hi! I have a really big problem. I use the slightly modified version of Unity 3 Alternate Physics Model. Everything works fine, but under braking the wheels lock up and the car understeers a lot (it goes straight, be it front, rear or all/four wheel drive.

P.S. I didn’t modify the Car Controller nor the Wheel script.

You create an coroutine that runs in the background once you start braking - if the speed change is not high enough during the braking, you turn the brakes on and off quickly, as ABS would in real life.