**6. Conclusions**

In this paper, we presented the design of an ABS with a fuzzy controller. Integrating fuzzy control into a conventional ABS has resulted in achieving improved maneuverability of the vehicle when braking on different surfaces and in different situations at high speed. As can be seen from the simulation results presented in the discussion, in all tests, the ABS with a fuzzy controller achieved better results than the conventional ABS. Comparing the key parameters in Table 12, we can see that by using a fuzzy controller, we achieved a reduction in the braking distance compared to the conventional ABS by 6% in the test on the road with combined adhesion. We achieved significantly better results mainly in the directional stability of the vehicle during the test on a road with a combined surface and the test of maneuverability.

**Author Contributions:** P.G. conceived and wrote the paper; P.G., J.Ž. and J.K. methology; P.G. designed the experiments; P.G., J.Ž. and J.K. analysed the experimental data; P.G., J.Ž. and J.K. proposed the theory. All authors have read and agreed to the published version of the manuscript.

**Funding:** This work was supported by the Slovak Research and Development Agency under the contract No. APVV-15-0750. This work was supported by the Slovak Research and Development Agency under the contract No. APVV-16-0206. The authors wish to thank the project VEGA 1/0187/18 for its support.

**Conflicts of Interest:** The authors declare no conflicts of interest.
