Brake system and controlling method thereof

Abstract

A brake system includes a sensor module including a motor current sensor and a force sensor, electric mechanical brake units mounted to wheels of a vehicle and including motors, respectively, and a controller configured to control one or more of the electric mechanical brake units, and the controller predicts states one of the motors of the electric mechanical brake units based on current signals of the motors detected by the motor current sensor, when at least one of the predicted states of the motors indicates that at least one of the motors fails, determines a failure level of the failed at least one of the motors based on sensor data obtained from the sensor module, calculates a requested torque of each of the wheels based on the determined failure level of the failed at least one of the motors, and controls a torque of each of the wheels based on the calculated requested torque of each of the wheels.

Dependencies are inferred from the claim text.