Braking apparatus of vehicle and control method thereof

A braking apparatus of a vehicle, comprising:

• a brake pedal position detector configured to detect a position of a brake pedal;
• a piston displacement detector configured to detect a displacement of a piston installed in a main master cylinder;
• a first wheel circuit pressure detector configured to detect pressure supplied to a first wheel circuit;
• a second wheel circuit pressure detector configured to detect pressure supplied to a second wheel circuit;
• a motor driver configured to drive a motor to move the piston;
• and
• a controller configured to:
• receive the position of the brake pedal from the brake pedal position detector;
• receive the displacement of the piston, the first wheel circuit pressure and the second wheel circuit pressure from the piston displacement detector, the first wheel circuit pressure detector and the second wheel circuit pressure detector, respectively, when a brake is operated;
• determine a fail of a circuit isolation valve that distributes pressure between the first wheel circuit and the second wheel circuit;
• and
• perform fail safe driving by operating the motor driver and a normal operating valve to supply pressure to only one of the first wheel circuit and the second wheel circuit,
• wherein, when the first wheel circuit pressure is dissipated and the second wheel circuit pressure is less than a threshold pressure, the controller determines that the circuit isolation valve has failed.