I'd heard before that if one could improve the response rate of the ABS system by a factor of 10 compared to current (1997) technology, then the stopping distance would be far shorter than even a skilled human operator could achieve.
Another interesting phenomenon that I've observed with ABS (on a 1991 Nissan pickup, 4wd): when braking at or near the limit of the braking system, on pavement with "patchy" ice, the ABS gives a ride similar to what you'd expect of a bucking bronco. The vehicle would dive to the left, then to the right, then to the left, then fishtail, then dive again, etc. The best explanation that I've heard was that, from time to time, the ABS system was achieving better braking on one side of the car than the other, because of differing conditions at the tires, resulting in brief bursts of yaw moment about the vehicle cg.