Bosch developed ABS for the Tata Safari

Here's an ingenious way as to how Bosch developed ABS for the Tata Safari:

ABS development on the Safari (SUV class) vehicle was taken up using Bosch ABS 5.3. Subsequent variants with different power trains were supposed to continue with the same ABS, however, with DICOR (Direct Injection Common Rail) engine there was a difference in static & dynamic axle reactions resulting in noncompliance of secondary brake performance as per EEC and IS norms. Hence a by-pass valve was introduced in the rear circuit which helped in by-passing the ABS coming into action in the secondary condition and thus helping in a reduced stopping distance required as per EEC and IS norms without affecting the performance of ABS in the condition when both brake circuits are fully functional.

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SAE