BRAKE APPARATUS AND METHOD OF CONTROLLING THE SAME

A brake apparatus includes brake modules on the left and right wheels of the first and second axles and a controller that sets a target braking torque for each wheel based on a pedal sensor signal and controls each module accordingly, and, upon detecting a failure in one or more brake modules, identifies a yaw rate error between the target and current yaw rates using a motion sensor signal, distributes additional braking torque to the operational modules based on the yaw rate error, and adjusts their braking torque based on both the target and additional values.