Brake system and method of controlling the same

A method of controlling a brake system, which comprises a plurality of wheel speed sensors respectively installed in a plurality of wheels of a vehicle, a plurality of hydraulic brake modules related to braking of the plurality of wheels, and a first controller configured to perform braking control on the plurality of hydraulic brake modules, the method comprising:

• performing, by the first controller, braking control on the plurality of hydraulic brake modules in response to at least one of a pedal displacement signal, which corresponds to a movement of a brake pedal, and wheel speed signals outputted from the wheel speed sensors;
• and
• performing, by a second controller provided in a steering system of the vehicle, braking control on an electronic parking brake, which is provided in at least one of the plurality of wheels, in response to at least one of an operating signal of an EPB switch, the pedal displacement signal, and the wheel speed signals outputted from the wheel speed sensor when a failure of the first controller is identified.