Brake apparatus for vehicle

A method of controlling a brake system for a vehicle having first and second rear wheel units respectively configured to control first and second rear wheels of the vehicle, the method comprising:

• receiving a braking request signal;
• determining whether a main control unit has failed;
• in response to determining that the main control unit has failed, determining whether the braking request signal is a pedal signal or an electronic parking brake (EPB);
• in response to determining that the braking request signal is the pedal signal, performing:
• generating a main braking command based on the pedal signal;
• controlling a second rear wheel unit to perform main braking control based on the pedal signal;
• and
• controlling the first and second rear wheel units to perform the main braking control;
• and
• in response to determining that the braking request signal is the EPB signal, performing:
• generating a parking braking command based on the received EPB signal;
• controlling the first rear wheel unit to perform parking braking control based on the EPB signal;
• and
• controlling the first and second rear wheel units to perform the parking braking control.