Brake apparatus and method of controlling the same

A brake apparatus comprising:

• a first pressure source hydraulically connected to a wheel brake of a vehicle through a flow passage connected to the wheel brake;
• a second pressure source hydraulically connected to the wheel brake through the flow passage;
• a parking brake actuator mechanically connected to the wheel brake;
• a first processor configured to control the first pressure source;
• and
• a second processor configured to control the second pressure source, and control the parking brake actuator in response to a parking command signal,
• wherein the second processor is configured to transmit a request signal for braking of the vehicle in response to the parking command signal received while the vehicle is traveling,
• wherein the first processor is configured to control the first pressure source to increase a pressure of the wheel brake in response to the request signal from the second processor configured to control the second pressure source and the parking brake actuator, and
• wherein the second processor is configured to control the second pressure source to increase the pressure of the wheel brake based on a pressure of the flow passage connected to the wheel brake while the first pressure source is operating, and control the parking brake actuator to engage a parking brake based on the pressure of the flow passage connected to the wheel brake while the second pressure source is operating.