Initializing method of brake-by-wire system in vehicle

A method of controlling a brake-by-wire system of a vehicle, the method comprising:

• providing a brake-by-wire system comprising a plurality of electrically controlled brakes, wherein the plurality of electrically controlled brakes comprises a first brake installed on a first wheel, a second brake installed on a second wheel, a third wheel installed on a third wheel and a fourth brake installed on a fourth wheel, wherein the first and second wheels are front wheels of a vehicle and the third and fourth wheels are rear wheels of the vehicle;
• determining whether the vehicle is in a slope;
• and
• when determined that the vehicle is in a slope, initializing two of the brakes among the first, second, third and fourth brakes while the other two brakes maintain braking of the corresponding wheels.