Vehicle braking system with abs emulation

A vehicle braking system comprising:

• a wheel cylinder;
• a brake pedal;
• a master cylinder configured to receive an input from the brake pedal;
• a master cylinder circuit connected to the master cylinder;
• a primary braking unit including a first electrically-actuated pressure generating unit distinct from the master cylinder and operable to generate a braking force at the wheel cylinder in a primary mode of operation, decoupled from the master cylinder circuit;
• a secondary braking unit including a second electrically-actuated pressure generating unit distinct from the master cylinder and operable to generate a braking force at the wheel cylinder in a secondary mode of operation;
• a plurality of valves configured to transition between open and closed positions to provide anti-lock braking at the wheel cylinder upon loss of traction during braking in the primary mode of operation;
• and
• a controller programmed to actuate the plurality of valves and further programmed to actuate the second electrically-actuated pressure generating unit upon loss of traction in the primary mode of operation to generate pulsations within the master cylinder circuit to provide a feedback force at the brake pedal indicative of the anti-lock braking.