Method for diagnosing an electronic vehicle brake system, computer program therefor and vehicle with brake diagnostics

A vehicle comprising:

• a wheel;
• a sensor;
• an electronic brake system, comprising:
• a brake disc, the brake disc being associated with the wheel;
• a brake drive comprising a brake pad and an electric brake motor;
• a brake power source, wherein the brake power source is configured to drive the electric brake motor of the brake drive;
• a controller;
• wherein:
• the brake pad is arranged to interact with the brake disc to generate a brake force as a result of the brake pad being pressed by the electric brake motor against the brake disc;
• the sensor is configured to measure an effect on the vehicle as a result of the brake force generated by the brake pad pressing against the brake disc;
• the controller is configured to perform the following steps while the wheel of the vehicle is being driven:
• generate a test current value and an expected brake effect value, the expected brake effect value being deduced from the test current value based on characteristics of the vehicle;
• instruct the brake power source of the brake drive to supply a test current to the electric brake motor of the brake drive, the magnitude of the test current being equal to the test current value;
• receive a brake effect measurement value from the sensor;
• compare the brake effect measurement value with the expected brake effect value to obtain a diagnostic result.