Brake system

A brake system comprising:

• (a) a pair of electric brake devices respectively provided for a right wheel and a left wheel of a vehicle;
• (b) a pair of individual controllers respectively associated with the electric brake devices to respectively control the electric brake devices;
• (c) a central controller communicable with the individual controllers to control the electric brake devices in a centralized manner;
• and (d) an on-vehicle network to which the central controller and the individual controllers are connected,
• wherein the central controller is configured to transmit, via the on-vehicle network, control commands to the respective individual controllers as signals containing destination information of the respective individual controllers,
• wherein each of the individual controllers is configured to control an associated one of the electric brake devices according to the control command based on the signal containing the destination information of its own, and
• wherein the brake system further comprises a position-change determining device configured to determine, based on a turning behavior of the vehicle, that positions of the pair of individual controllers are mutually changed with respect to the association with the pair of electric brake devices.