A vehicle including a respective brake for each driven, ground-engaging member that is operable under the control of driven member brake commands generated in a controller, a ground-engaging, steerable member that defines a steering angle, a sensor for generating a steering angle signal that is indicative of the steering angle, a sensor for generating a vehicle speed signal, and a sensor for generating a respective driven member speed signal. The controller is capable of generating driven member brake commands based on steering angle and vehicle speed signals together with a driven member slip estimation signal that is generated from the driven member speed signals.