A controlled experiment used instrumented vehicles in a real-world driving task to compare D. N. Lee's (1976) tau-dot hypothesis of braking control with an alternative based on the direct estimation and control of ideal deceleration (T. Yates, M. Harris, & P. Rock, 2004). Drivers braked to stop as closely as possible to a visual target from different starting speeds and times-to-contact. The data provided little support for the tau-dot hypothesis, and analysis suggested that braking in the real world is better explained by a direct deceleration strategy.