diff --git a/src/modules/simu/simuv4/brake.cpp b/src/modules/simu/simuv4/brake.cpp
index 48f1f0341..19dab6776 100644
--- a/src/modules/simu/simuv4/brake.cpp
+++ b/src/modules/simu/simuv4/brake.cpp
@@ -27,7 +27,30 @@ SimBrakeConfig(void *hdle, const char *section, tBrake *brake)
     diam     = GfParmGetNum(hdle, section, PRM_BRKDIAM, (char*)NULL, 0.2f);
     area     = GfParmGetNum(hdle, section, PRM_BRKAREA, (char*)NULL, 0.002f);
     mu       = GfParmGetNum(hdle, section, PRM_MU, (char*)NULL, 0.30f);
-    brake->coeff = (tdble) (diam * 0.5 * area * mu);
+
+	// Option TCL ...
+	//if (car->features & FEAT_TCLINSIMU)
+	{
+	    brake->TCL = 1.0f;
+		brake->TCLMin = 1.0f;
+	}
+	// ... Option TCL
+	// Option ABS ...
+	//if (car->features & FEAT_ABSINSIMU)
+	{
+		brake->ABS = 1.0f;
+		brake->EnableABS
+		     = GfParmGetNum(hdle, section, PRM_ABSINSIMU, (char*)NULL, 0.0f) > 0;
+/*
+		if (brake->EnableABS)
+			fprintf(stderr,"ABS: Enabled\n");
+		else
+			fprintf(stderr,"ABS: Disabled\n");
+*/
+	}
+	// ... Option ABS
+
+	brake->coeff = (tdble) (diam * 0.5 * area * mu);
 
     brake->I = GfParmGetNum(hdle, section, PRM_INERTIA, (char*)NULL, 0.13f);
     brake->radius = diam/2.0f;
@@ -38,6 +61,22 @@ SimBrakeUpdate(tCar *car, tWheel *wheel, tBrake *brake)
 {
     brake->Tq = brake->coeff * brake->pressure;
 
+	// Option ABS ...
+	if (car->features & FEAT_ABSINSIMU)
+	{
+		if (brake->EnableABS)
+			brake->Tq *= brake->ABS;
+	}
+	// ... Option ABS
+	// Option TCL ...
+	if (car->features & FEAT_TCLINSIMU)
+	{
+		tdble TCL_BrakeScale = 400.0f; // Make it be a parameter later
+		if ((brake->TCLMin < 1.0) && (brake->TCLMin == brake->TCL))
+		  brake->Tq += TCL_BrakeScale/brake->TCL;
+	}
+	// ... Option TCL
+
     brake->temp -= (tdble) (fabs(car->DynGC.vel.x) * 0.0001 + 0.0002);
     if (brake->temp < 0 ) brake->temp = 0;
     brake->temp += (tdble) (brake->pressure * brake->radius * fabs(wheel->spinVel) * 0.00000000005);
diff --git a/src/modules/simu/simuv4/brake.h b/src/modules/simu/simuv4/brake.h
index 7ef49363b..5e51d288b 100644
--- a/src/modules/simu/simuv4/brake.h
+++ b/src/modules/simu/simuv4/brake.h
@@ -28,6 +28,21 @@ typedef struct
     tdble	I;
     tdble	radius;
     tdble	temp;
+
+	// Options that can be enabled in simuV4 
+	// by parameters in the car type setup file 
+
+	// Add variables here (tdble)
+	// TCL ...
+	tdble	TCL;		// TCL factor
+	tdble	TCLMin;		// Minimum of TCL factors at all wheels
+	// ... TCL 
+	// ABS ...
+	tdble	ABS;		// ABS factor
+	// ... ABS
+
+	// Add switches here (bool)
+	bool	EnableABS;	// Switch to enable ABS 
 } tBrake;
 
 typedef struct
diff --git a/src/modules/simu/simuv4/car.cpp b/src/modules/simu/simuv4/car.cpp
index 3207ef835..a02dada76 100644
--- a/src/modules/simu/simuv4/car.cpp
+++ b/src/modules/simu/simuv4/car.cpp
@@ -27,6 +27,9 @@
 const tdble aMax = 1.0f; /*  */
 static const char *SuspSect[4] = {SECT_FRNTRGTSUSP, SECT_FRNTLFTSUSP, SECT_REARRGTSUSP, SECT_REARLFTSUSP};
 
+// The "Simu" logger instance
+GfLogger* PLogSimu = 0;
+
 void
 SimCarConfig(tCar *car)
 {
@@ -66,6 +69,14 @@ SimCarConfig(tCar *car)
 	if (strcmp(enabling, VAL_YES) == 0) {
 		car->features = car->features | FEAT_FIXEDWHEELFORCE;
 	}
+	enabling = GfParmGetStr(hdle, SECT_FEATURES, PRM_TCLINSIMU, VAL_NO);
+	if (strcmp(enabling, VAL_YES) == 0) {
+		car->features = car->features | FEAT_TCLINSIMU;
+	}
+	enabling = GfParmGetStr(hdle, SECT_FEATURES, PRM_ABSINSIMU, VAL_NO);
+	if (strcmp(enabling, VAL_YES) == 0) {
+		car->features = car->features | FEAT_ABSINSIMU;
+	}
 	
 	/* continue with car parameters */
 	car->dimension.x = GfParmGetNum(hdle, SECT_CAR, PRM_LEN, (char*)NULL, 4.7f);
@@ -114,10 +125,10 @@ SimCarConfig(tCar *car)
 	wf0 = w * gcfr;
 	wr0 = w * (1 - gcfr);
 	
-	car->wheel[FRNT_RGT].weight0 = wf0 * gcfrl * K[FRNT_RGT] / (K[FRNT_RGT] + 0.5*Kfheave);
-	car->wheel[FRNT_LFT].weight0 = wf0 * (1 - gcfrl) * K[FRNT_LFT] / (K[FRNT_LFT] + 0.5*Kfheave);
-	car->wheel[REAR_RGT].weight0 = wr0 * gcrrl * K[REAR_RGT] / (K[REAR_RGT] + 0.5*Krheave);
-	car->wheel[REAR_LFT].weight0 = wr0 * (1 - gcrrl) * K[REAR_LFT] / (K[REAR_LFT] + 0.5*Krheave);
+	car->wheel[FRNT_RGT].weight0 = wf0 * gcfrl * K[FRNT_RGT] / (K[FRNT_RGT] + 0.5f*Kfheave);
+	car->wheel[FRNT_LFT].weight0 = wf0 * (1 - gcfrl) * K[FRNT_LFT] / (K[FRNT_LFT] + 0.5f*Kfheave);
+	car->wheel[REAR_RGT].weight0 = wr0 * gcrrl * K[REAR_RGT] / (K[REAR_RGT] + 0.5f*Krheave);
+	car->wheel[REAR_LFT].weight0 = wr0 * (1 - gcrrl) * K[REAR_LFT] / (K[REAR_LFT] + 0.5f*Krheave);
 	
 	/*for (i = 0; i < 2; i++) {
 		SimAxleConfig(car, i, 0.0);
diff --git a/src/modules/simu/simuv4/engine.cpp b/src/modules/simu/simuv4/engine.cpp
index 06bf9e6a0..48b5c7692 100644
--- a/src/modules/simu/simuv4/engine.cpp
+++ b/src/modules/simu/simuv4/engine.cpp
@@ -49,6 +49,18 @@ SimEngineConfig(tCar *car)
 	car->engine.I_joint = car->engine.I;
 	car->engine.timeInLimiter = 0.0f;
 
+	// Option TCL ...
+	if (car->features & FEAT_TCLINSIMU)
+	{
+		car->engine.TCL        = 1.0f;
+		car->engine.EnableTCL  = GfParmGetNum(hdle, SECT_ENGINE, PRM_TCLINSIMU, (char*)NULL, 0.0f) > 0;
+		if (car->engine.EnableTCL)
+		  fprintf(stderr,"TCL: Enabled\n");
+		else
+			fprintf(stderr,"TCL: Disabled\n");
+	}
+	// ... Option TCL
+
 	sprintf(idx, "%s/%s", SECT_ENGINE, ARR_DATAPTS);
 	car->engine.curve.nbPts = GfParmGetEltNb(hdle, idx);
 	edesc = (struct tEdesc*)malloc((car->engine.curve.nbPts + 1) * sizeof(struct tEdesc));
@@ -156,6 +168,19 @@ SimEngineUpdateTq(tCar *car)
 	        engine->timeInLimiter = 0.1f;
 	    }
         }
+
+	// Option TCL ...
+	if (car->features & FEAT_TCLINSIMU)
+	{
+		if (engine->EnableTCL)
+			Tq_max *= engine->TCL;
+/*
+		if (engine->EnableTCL)
+			fprintf(stderr,"TCL: %.1f %%\n", engine->TCL * 100);
+*/
+	}
+	// ... Option TCL
+
 	if ( (car->features & FEAT_REVLIMIT) && (engine->timeInLimiter > 0.0f) ) {
 	    alpha = 0.0;
 	    engine->timeInLimiter -= SimDeltaTime;
diff --git a/src/modules/simu/simuv4/engine.h b/src/modules/simu/simuv4/engine.h
index 8cf1cd1ee..a79bd54ad 100644
--- a/src/modules/simu/simuv4/engine.h
+++ b/src/modules/simu/simuv4/engine.h
@@ -54,6 +54,9 @@ typedef struct
     tdble		exhaust_pressure;
     tdble		exhaust_refract;
     tdble		timeInLimiter; /* time to still spend with fuel cut, in secundum */
+
+	tdble		TCL;		// Optional TCL
+	bool		EnableTCL;	// Enable optional TCL
 } tEngine;
 
 #endif /* _ENGINE_H_ */ 
diff --git a/src/modules/simu/simuv4/wheel.cpp b/src/modules/simu/simuv4/wheel.cpp
index 633a447b3..64ab83491 100644
--- a/src/modules/simu/simuv4/wheel.cpp
+++ b/src/modules/simu/simuv4/wheel.cpp
@@ -169,6 +169,18 @@ void SimWheelUpdateRide(tCar *car, int index)
 	
 	// update wheel brake
 	SimBrakeUpdate(car, wheel, &(wheel->brake));
+
+	// Option TCL ...
+	if (car->features & FEAT_TCLINSIMU)
+	{
+		if (index == 3) 
+		{	// After using the values for the last wheel
+			tEngine	*engine = &(car->engine);
+			engine->TCL = 1.0;			// Reset the TCL accel command
+			wheel->brake.TCLMin = 1.0;	// Reset the TCL brake command reference value
+		}
+	}
+	// ... Option TCL
 }
 
 
@@ -351,6 +363,52 @@ void SimWheelUpdateForce(tCar *car, int index)
 		car->carElt->_tyreT_out(index) = wheel->Ttire;
 		car->carElt->_tyreCondition(index) = tireCond;
 	}
+
+	// Option TCL ...
+	if (car->features & FEAT_TCLINSIMU)
+	{
+		tdble TCL_SlipScale = 0.1f;		// Make it be a parameter later
+		tdble TCL_BrakeScale = 1/60.0f;	// Make it be a parameter later
+		tdble TCL_AccelScale = 0.5f;	// Make it be a parameter later
+
+		tEngine	*engine = &(car->engine); // Get engine
+		if (sx < -TCL_SlipScale)          // Slip is over our limit
+		{	// Store the TCL_Brake command for this wheel
+			wheel->brake.TCL = 1 + TCL_BrakeScale/sx;
+			if (wheel->brake.TCLMin > wheel->brake.TCL)
+			{	// We need the minimum for all driven wheels later
+			engine->TCL = TCL_AccelScale * wheel->brake.TCL;
+			}
+		}
+		else
+		{	// Keep the minimum for all dSriven wheels
+		engine->TCL = (tdble) MIN(1.0,engine->TCL);
+		}
+	}
+    // ... Optional TCL
+
+	// Optional ABS ...
+	if (car->features & FEAT_ABSINSIMU)
+	{
+		tdble ABS_SlipScale = 0.1f;		// Make it be a parameter later
+		tdble ABS_BrakeScale = 1.0f;	// Make it be a parameter later
+
+		// If slip is over the limit, set brake command for this wheel
+		if (sx > ABS_SlipScale)			
+			wheel->brake.ABS = 1 - ABS_BrakeScale * sx;
+		else
+			wheel->brake.ABS = 1.0f;
+/**/
+		if (wheel->brake.EnableABS)
+		{
+			if (index == 0)
+				fprintf(stderr,"\nABS: %.1f %% ", wheel->brake.ABS * 100);
+			else
+				fprintf(stderr," %.1f %% ", wheel->brake.ABS * 100);
+		}
+/**/
+	}
+    // ... Optional ABS
 }