Braking device for vehicle and braking method therefor

A braking device for a vehicle, the braking device comprising a reservoir, a back-up master cylinder, a main master cylinder, a plurality of valves, a motor, and a plurality of wheel brakes, the main master cylinder including a main piston, and the motor configured to move the main piston, the braking device configured to:

• determine whether a traction control system (TCS) function needs to be performed, the TCS function including preventing a wheel of the vehicle from idling;
• in response to determining that the TCS function needs to be performed, calculate a plurality of required pressures for the plurality of wheel brakes, respectively, to perform the TCS function;
• based on the calculated plurality of required pressures for the plurality of wheel brakes, determine how many of the plurality of wheel brakes needs to be supplied with a hydraulic pressure to perform the TCS function;
• in response to determining that only one of the plurality of wheel brakes needs to be supplied with the hydraulic pressure to perform the TCS function, supply, to the only one wheel brake, a first hydraulic pressure that causes the only one wheel brake to provide a first required pressure to perform the TCS function;
• and
• in response to determining that two or more of the plurality of wheel brakes need to be supplied with the hydraulic pressures to perform the TCS function, (1) determine, from the plurality of wheel brakes, a high-pressure wheel brake for generating a second required braking force to perform the TCS function and a low-pressure wheel brake for generating a third required braking force to perform the TCS function, the third required braking force being smaller than the second required braking force, and (2) supply, to the high-pressure and low-pressure wheel brakes, second and third hydraulic pressures, respectively, that cause the high-pressure and low-pressure brakes to respectively provide the second and third required pressures to perform the TCS function,
• wherein the braking device is further configured to supply a supplemental current to the motor to prevent a drop in the hydraulic pressure in the high-pressure wheel brake when the second and third hydraulic pressures are respectively supplied to the high-pressure and low-pressure wheel brakes.