Distributed electric park brake control

A method of operating a vehicle braking system, the vehicle braking system including a first brake system controller and a second brake system controller, the method comprising:

• monitoring, by the first brake system controller, a status of an electric parking brake switch;
• transmiting, from the first brake system controller to a motor-on-caliper actuator, a control signal based on the status of the electric parking brake switch, wherein the control signal causes the motor-on-caliper actuator to extend a caliper piston and apply a clamping force to a brake rotor when the electric parking brake switch is in an on-state, and wherein the control signal causes the motor-on caliper actuator to retract the caliper piston when the electric parking brake switch is in an off-state,
• controlling, by the second brake system controller, at least one function of the braking system not related to a parking brake function;
• determining, by the second brake system controller, whether the first brake system controller is operating properly;
• monitoring, by the second brake system controller, a status of the electronic parking brake switch in response to determining that the first brake system controller is not operating properly;
• and
• transmitting the control signal from the second brake system controller to the motor-on-caliper actuator based on the status of the electric parking brake switch only in response to determining, by the second brake system controller, that the first brake system controller is not operating properly.

A brake pedal controller configured to:

• monitor a position of a brake pedal of a vehicle;
• adjust a hydraulic pressure output to the braking system based on the position of the brake pedal;
• determine whether an electronic parking brake controller is operating properly;
• and
• transmit a parking brake engage signal to a motor-on-caliper actuator only in response to determining that an electronic parking brake switch is in an on-state while the electronic parking brake controller is not operating properly, wherein the parking brake engage signal is configured to cause the motor-on-caliper actuator to extend a caliper piston and apply a clamping force to a brake rotor.