Braking control apparatus for vehicle and method thereof

A braking control method for a vehicle, comprising:

• braking, by a first controller, the vehicle depending on an output signal generated by a first pedal stroke sensor according to a stroke of a brake pedal;
• braking, by a second controller, the vehicle depending on an output signal generated by a second pedal stroke sensor different from the first pedal stroke sensor connected with the first controller;
• calculating, by a third controller, a regenerative brake torque for regenerative braking of the vehicle and braking, by the third controller, the vehicle;
• generating, by an electric parking brake (EPB), a parking braking force of the vehicle by an electrical signal;
• controlling, by any one of the first controller, the second controller, or the third controller, at least one of the regenerative braking or the parking braking force to brake the vehicle, depending on whether at least one of the first controller or the second controller, is in a normal state;
• applying, by the first controller, an output signal of the second controller and an output signal of the first controller to at least one of a start-up self-test (SUST), a shut-down self-test (SDST), or fault detection logic, to determine the normal state of the first controller;
• transmitting, by the first controller, a state of the first controller to the third controller, when the state of the first controller is not the normal state;
• applying, by the second controller, the output signal of the first controller and the output signal of the second controller to the at least one of the SUST, the SDST, or the fault detection logic to determine the normal state of the second controller;
• and
• transmitting, by the second controller, a state of the second controller to the third controller, when the state of the second controller is not the normal state,
• wherein the normal state indicates whether the at least one of the first controller or the second controller is able to perform hydraulic control of the vehicle.