Electro mechanical brake system and control method thereof

A method of controlling an electro mechanical brake system of a vehicle including:

• a first pedal sensor, a second pedal sensor, a third pedal sensor, a first brake controller, a second brake controller, a first Electro Mechanical Brake (EMB), a second EMB, a third EMB, and a fourth EMB, wherein the first pedal sensor, the first brake controller, the first EMB, and the fourth EMB powered from a first battery of the vehicle and the second pedal sensor, the third pedal sensor, the second brake controller, the second EMB, and the third EMB are powered from a second battery of the vehicle, the method comprising:
• at the first pedal sensor, detecting the second pedal sensor, and the third pedal sensor, a pedal effort applied to a brake pedal;
• at the first pedal sensor, generating the second pedal sensor, and the third pedal sensor, a first braking signal, a second braking signal, and a third braking signal;
• at the first brake controller connected to the first pedal sensor, obtaining a first target braking torque based on the first braking signal;
• at the first brake controller transmitting the first target braking torque to the first EMB, the second EMB, the third EMB, and the fourth EMB;
• at the first brake controller connected to an Electronic Controlled Unit (ECU) in the vehicle through a communication network, performing at least one control of Anti-lock Braking System (ABS) control, Electronic Stability Control (ESC) control, or Traction Control System (TCS) control;
• at the second brake controller connected to the first pedal sensor, the second pedal sensor, and the third pedal sensor, obtaining a second target braking torque based on the first braking signal, the second braking signal, and the third braking signal;
• at the second brake controller, transmitting the second target braking torque to the first EMB, the second EMB, the third EMB, and the fourth EMB;
• at the first EMB, the second EMB, the third EMB, and the fourth EMB, performing a braking control based on the first target braking torque upon reception of both the first target braking torque and the second target braking torque;
• detecting a failure of at least one of the first battery, the second battery, the first pedal sensor, the second pedal sensor, the third pedal sensor, the first brake controller, or the second brake controller;
• and
• at any one brake controller of the first brake controller or the second brake controller, performing a braking control based on the detected failure.