In the past few years thanks to the headway of embedded systems, more and more driving assistance systems(DAS) are appearing built-in the vehicles. Huge variety of DA functions can be found on the market, basically those may be split up two main groups. On the one hand we can encounter some comfort funtions, or which could be more crucial in terms of emergency, those function which prevent us being harmed in case of collison. One of such driving systems is ABS (AntiLock Breaking System) which contributes to reduce - especially in emergency and unexpected situations - the distance of breaking, moreover being more critical, it ensures much higher controllabilty by maintaining the stability of any type of vehicle than without having ABS. From controlling perspective the most important goal is to maintain the wheel slip around the extremum point, hence one can achive to stop the given vehicle in the fastest way. Our task is simply not reduced on controlling, because quality of surface tends to vary by the time, not only because of weather conditions, but the material which the roads are made from. Thus one can conclude that the surface of roads must be estimated since exact formula is not provided, which has to be as accurate as it can be because controlling is affected by the quality of estimation. In order to test the methods/formulas throughout my thesis sliding mode control and estimation are applied. Simulations are performed in MATLAB R2017, using Simulink to make sure whether SMC is a proper controlling method in field of ABS. Besides the controlling algorithm, vehicle dynamic modell is also carried out, and last but not least road surface modell is needed to have ABS's performance tested.