Braking System

A vehicle braking system including a control unit () which is operable to communicate with at least one sensor (), the sensor () being operable to provide signals corresponding to a characteristic of a vehicle to the control unit (), and the control unit () being in communication with a brake demand source () to receive brake demand data, and the control unit () also being in communication with a plurality of wheel end units, each wheel end unit including a brake torque control unit () which is operable to control an associated brake actuator to apply a braking torque dependent upon a signal received from the control unit ().