VEHICLE'S BRAKE SYSTEM AND A METHOD FOR BRAKING A VEHICLE

The invention provides a vehicle's brake system and a method for braking a vehicle. The brake system comprises at least two control modules and a plurality of electromechanical brake devices. Each electromechanical brake device comprises a wheel end controller, a motor actuator and a friction brake driven by the motor actuator. Each control module receives a brake demand from a brake demand generating device and sends a control signal to each wheel end controller according to the brake demand. Each wheel end controller only responds to the control signals when the control signals received from the two control modules are consistent.