Control method and system for a braking system

A control method for a braking system of a vehicle, wherein the braking system comprises at least one brake caliper, a caliper actuator actuatable to cause clamping and releasing of the brake caliper, and a caliper sensor suitable for detecting a magnitude correlated to the clamping of the brake caliper, the method comprising steps of:

• predetermining a clamping force threshold value detectable by the caliper sensor, said clamping force threshold value being lower than a maximum clamping force value exercisable by the brake caliper;
• receiving a reference force value;
• identifying, by a caliper stiffness modeling module, a caliper stiffness model defined by a theoretical stiffness curve which relates a clamping force applied by the brake caliper with a position of the caliper actuator;
• estimating, by a force estimator module, a clamping force value using the caliper stiffness model and information correlated to the position of the caliper actuator, and
• generating, by a brake control module, an actuator control signal based on the estimated clamping force value and the reference force value;
• wherein the caliper sensor is a binary sensor suitable for providing clamping force presence information when the clamping force reaches the threshold value.