Apparatus and Method For Estimating Wear of a Brake Pad

An apparatus for estimating wear of a brake pad according to an embodiment of the present disclosure includes a hydraulic circuit, a non-motor on caliper (NMOC), a motor on caliper (MOC), and a control module, wherein the control module includes one or more processors, and a storage medium storing computer-readable instructions that, when executed by one or more processors, cause the one or more processors to control a motor mounted on the motor on caliper (MOC) to move a piston provided in the non-motor on caliper (NMOC), and obtain time required for the brake pad having pressure applied thereto by the piston to contact the disk, and estimate a degree of wear of the brake pad provided in the non-motor on caliper (NMOC) based on the required time.