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For the purpose of optimizing control strategy of anti-lock braking system (ABS) under the steering and braking combined working condition, the vehicle steering state should be identified. The steering parameters adapted to ABS application were selected which were composed of vehicle velocity, turning direction and steering angle. The applied direct and indirect measure technologies were compared. According to the principle of kinematics of four-wheel vehicle and stable steering characteristic of two-degree-of-freedom vehicle model, the steering parameters estimation algorithms using ABS wheel speed and control information were researched. System test was carried out by the experiment of the steady static circular running and braked steering. The test results showed good accuracy of the parameters estimation.