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A novel adaptive noise cancellation method for wheel speed signal of the anti-lock braking system/anti-slip regulation(ABS/ASR) control system is proposed. Based on the spectrum distribution of vehicle’s wheel speed signal got from fast Fourier transform under various conditions, the high-pass filter is used to deal with original wheel speed signals sampled to get reference noise signal and the original wheel speed signals are used as adaptive filter’s desired outputs. The difference between original signals and reference noise signals is used as the error signal for the adaptive FIR filter and also used as the whole adaptive noise cancellation system’s final output. This method can obtain the noise signal on-line and is easy to use for real control system,which is useful to improve the performance of integrate system ABS/ASR.