Heavy Commercial Road Vehicles were involved in 31% of road accident fatalities in India in 2019, despite being 5.34% of the total vehicle population. Active vehicle safety systems like Antilock Brake System (ABS) can potentially reduce road accident fatalities. Wheel slip regulation is one of the methods for realizing an ABS. Commercial ABS solutions disclose the methodology of wheel slip regulation. However, the two key aspects are not part of public knowledge. These two aspects are: where to regulate the wheel slip and how to obtain an estimate of wheel slip. This research attempts to address these two aspects. The objective of this research is to develop estimation and sensor processing algorithms for the implementation of the WSR algorithm on HCRVs with experimental demonstration.