An anti-lock brake control system 12 for a vehicle 10 that enhances vehicle braking when the vehicle is commanded to travel in a substantially straight trajectory. The brake control system 12 has an operator input 18 for commanding vehicle braking, and brake actuators 20A-20C for applying braking force to wheels 14A-14D in response to the operator input. In addition, the brake control system includes a steering angle sensor 34 for sensing a steering angle of the vehicle, and a wheel speed sensors 36 for sensing rotational speed of the wheels. Further, the brake control system 12 includes a controller 22 for controlling the amount of braking by the brake actuators 20A-20C in accordance with a tire slip as determined by the wheel speed. The controller 22 determines the amount of tire slip during braking and increases the amount of tire slip to increase vehicle braking when the vehicle 10 is commanded to travel in a substantially straightline trajectory.