Hi all, i hope this is the right section to post this: As i'm enjoying making race cars in automation, i started to notice how difficult it was to balance braking without ABS (even with ABS - i think brake forces are too high compared do disk diameter in automation - but that's a different issue). I then noticed a pattern: most cars were not able to "recover" after locking brakes, and the engine was idling. So i disabled the auto-clutch and felt an immediate improvement, exspecially in 4wd cars. From what i get, the anti-stall, right now, just engages the clutch when it percives locking, and only engages it again when some throttle input is detected. This will make the effective brake balance change after any locking, making the braking unpredictable, expecially in fast cars. What i propose is the following algorithm for anti-stall instead of the one you use now: if shaft RPM after clutch < idle RPM*1.05 and engine RPM < idle RPM*1.1: clutch engagement = min(0,((shaft RPM - idle RPM)/idle RPM)*20) elif shaft RPM after clutch < idle RPM*1.05 and throttle input > 0: clutch engagement = min(0, max(1, ((engine RPM - idle RPM*1.1)/idle RPM*1.1)*0.5)) else: clutch engagement = 1 this way you'd have the clutch completely disengaged when the engine is about to stall, but immediatly re-engaging when wheels start rolling again enough to keep the engine moving, while the second "if" makes the clutch re-engage slowly when giving throttle, even if the wheels are rolling too slow (clutch is fully engaged when wheels get above engine idling speed, may need some extra tuning to handle standstill starts, but it's only meant to substitute the anti-stall logic).