Brake torque transferring via limited slip and locking differentials based on detected failure of brake circuits

A braking system comprising:

• a plurality of brake circuits for four wheels of a vehicle and configured to be independently controlled, activated and deactivated and when activated apply independently selected amounts of braking force respectively at the wheels, wherein each of the four wheels has a respective designated one of the plurality of brake circuits;
• and
• a braking stability module configured to i) detect a failure with a first one of the plurality of brake circuits of a first axle of the vehicle, ii) in response to detecting the failure, determine whether to lock or adjust an amount of engagement of a differential of the first axle of the vehicle, iii) selectively lock or adjust the amount of engagement of the differential to distribute brake force from a second one of the plurality of brake circuits of the first axle to one of the wheels at the first one of the plurality of brake circuits, and iv) control operation of the second one of the plurality of brake circuits to brake torque the one of the wheels at the first one of the plurality of brake circuits,
• wherein the braking stability module is configured, in response to detecting the failure with the first one of the plurality of brake circuits, to i) determine whether to lock or adjust an amount of engagement of another differential of one or more other axles of the vehicle, and ii) selectively lock or adjust the amount of engagement of the another differential to distribute brake force from a third one of the plurality of brake circuits of the one or more other axles to one of the wheels at a fourth one of the plurality of brake circuits.