System and method for motor brake boost function failure

A braking system for a vehicle comprising:

• a friction braking system configured to provide a frictional braking force to a plurality of wheels of the vehicle;
• a regenerative braking system configured to provide a regenerative braking force to a plurality of wheels of the vehicle;
• and
• an electronic processor communicatively coupled to the friction braking system and the regenerative braking system, the electronic processor configured to:
• receive a driver brake request;
• determine a brake failure state, the brake failure state indicating a brake failure;
• and
• in response to determining the brake failure state, control each of the friction braking system and the regenerative braking system to apply a respective braking force based on the driver brake request, wherein a total braking force applied to each of the plurality of wheels includes a ratio of the regenerative braking force and of the frictional braking force, the ratio being determined based on a type of brake failure, a location of each wheel, and a split type of friction braking system.