Differential braking and yaw rate mitigation during brake-by-wire braking events with increased deceleration during failure events

A braking system comprising:

• a plurality of brake circuits configured to be independently activated and deactivated and when activated apply braking force at respective wheels of a vehicle;
• and
• a braking stability module configured to detect an issue or a failure with a first one of the plurality of brake circuits where an unexpected amount of braking torque is being applied as compared to an amount of braking torque applied at a second one of the plurality of brake circuits, and mitigate effect of the unexpected amount of braking torque on a yaw rate of the vehicle by at least one of i) adjusting the braking torque of the first one of the plurality of brake circuits to compensate for the unexpected amount of braking torque, ii) adjusting braking torque of the second one of the plurality of brake circuits to compensate for the unexpected amount of braking torque, and iii) deactivating the first one of the plurality of brake circuits and modulating braking torque of the second one of the plurality of brake circuits to compensate for the unexpected amount of braking torque, the first one of the plurality of brake circuits being on a different side of the vehicle than the second one of the plurality of brake circuits.