Active Vehicle Safety (AVS) has gained a lot of impetus over the years with technological advancements taking place across the globe in the transportation sector. The World Health Organization reports that road traffic injuries are the eighth leading cause of death among all ages, and the leading cause of death among children and young adults. Unfortunately, India currently leads the world in number of road accidents. The Ministry of Road Transport and Highways, Government of India reported 4,67,044 road accidents in the year 2018. Hence, a significant amount of research is being pursued towards AVS, compared to their passive counterparts, and institutional legislations are being passed to the same effect, both at national and international level. Hence the development of an AVS is being taken up in this research. Wheel Slip Regulation (WSR) is one popular method applied in AVS systems. The broad functionalities achieved by WSR are, to: (i) avoid wheel lock, (ii) retain vehicle steerability and stability, and (iii) enhance braking performance; via the optimal utilization of tractive force at the tire-road interface. But the challenge remains in finding the optimal value of wheel slip to be regulated at, as this quantity changes with the loading and road conditions. Also, while designing AVS systems, the dynamics of the vehicle and the performance of the individual components are crucial. To this end, the design of safety systems becomes more challenging for Heavy Commercial Road Vehicles (HCRVs), which are far different from passenger cars for reasons such as significant variation in laden and unladen mass of the vehicle, slower response of pneumatic brakes, more tendency to roll during yaw motion, and larger dynamic changes in the axle load distribution. Thus, testing of such AVS systems developed for HCRVs should incorporate these effects to be reliable in real world application. The commonly used actuator in any AVS system is the vehicle brake system and hence its accurate control becomes important. Wheel slip control using model based techniques have been largely attempted, but are in general, not viable for real-time implementation. On the other hand, the details of rule based techniques existing in the commercial sector are seldom revealed. Hence, wheel slip control using rule based algorithms whilst retaining the benefits of model based techniques is attempted in this research, towards anti-lock braking.