Nowadays the Anti-lock Brake System (ABS) is a standard safety feature in modern vehicles. Therefore, this study is focused on investigate the vehicle performance during different braking maneuvers using the ABS. Furthermore, the influence of the proper selection of anti-roll bar (ARB) to improve the vehicle roll and lateral dynamics during braking is investigated. A one axle 6-DoF Vertical-Longitudinal vehicle mathematical model considering the roll motion of the vehicle body and the rotational motion of the wheels is developed. The suspension system is modeled as independent suspension with Anti-roll bar. The tire-road interface is modeled using Magic formula together with a signal point of contact road excitation considering the road roughness. The ABS control algorithm is developed based on the PID control theory employing wheel slip control strategy. The results showed that, using the ABS improved the braking performance in terms of the stopping distance and time in comparison with the conventional brake system for all the investigated braking manoeuvres. Furthermore, the vehicle roll and lateral dynamics in the split µ braking manoeuvre is improved by the proper selection of the Anti-roll bar