Braking device for vehicle and braking method therefor

A method of braking a vehicle, comprising:

• a control start determination operation including determining whether a traction control system (TCS) control function is needed;
• a required pressure calculation operation including, in response to determining that the TCS control is needed, calculating a plurality of required pressures in a plurality of wheel brakes, respectively, for braking a vehicle, the plurality of wheel brakes including a low-pressure wheel brake and a high-pressure wheel brake;
• a control mode determination operation including determining whether the TCS control function is to be performed in a single wheel control mode or a multi-wheel control mode;
• and
• a hydraulic pressure supply operation for supplying a hydraulic pressure to the plurality of wheel brakes such that the wheel brakes meet the required pressures for braking the vehicle, the hydraulic pressure supply operation including:
• in response to determining that the TCS control function is to be performed in the multi-wheel control mode, supplying, by performing a valve control, a hydraulic pressure to the low-pressure wheel brake and supplying, by performing a pressure control, a hydraulic pressure to the high-pressure wheel brake;
• and
• in response to determining that the TCS control function is to be performed in the single wheel control mode, supplying, by performing the valve control, a hydraulic pressure to at least one of the plurality of wheel brakes.