> on most surfaces relevant passenger cars, ABS gives somewhat shorter stopping distances but the difference is minimal compared to a trained professional drive

> on most surfaces relevant passenger cars, ABS gives somewhat shorter stopping distances but the difference is minimal compared to a trained professional driver* Hm. This [edit: the "shorter", which has now been corrected] doesn't fit my experience when I took advanced driver training years ago (I was a GM employee at the time). The training vehicles could have ABS enabled or disabled by a switch on the dashboard. The instructor first disabled ABS and had me practice threshold braking, until I reached the point where I could negotiate a setup with cones where you had to swerve left, then swerve back right, all while braking enough to not overshoot. I was able to do that several times with threshold braking after some practice. Then the instructor turned the ABS on and had me try the cones again. I overshot every time. Of course this was some 20 years ago, and more recent ABS systems might do better. But the SAE paper you refer to was even earlier.