Methods for transitioning into reduced braking performance modes upon failure of a primary braking system

A method for transitioning a braking system between primary and fallback modes, comprising:

• reducing a working volume of a primary braking system so that hydraulic braking energy is supplied to wheels of a single axle of a vehicle;
• monitoring a speed of the vehicle;
• supplying braking energy by an electronic parking brake by cycling the electronic parking brake to a predefined load and releasing the load regardless of whether wheel slip has occurred when the speed of the vehicle is above a threshold speed, and
• supplying braking energy by the electronic parking brake by engaging the electronic parking brake up to a slip threshold where wheel slip occurs when the speed of the vehicle is at or below a threshold speed;
• periodically determining whether the vehicle is at a standstill;
• and
• after it has been determined that the vehicle is at a standstill, bringing the braking system of the vehicle into the fallback braking mode by increasing the working volume of the primary braking system so that hydraulic braking energy is supplied to all wheels of the vehicle.