Brake system and method for carrying out a parking brake function of a vehicle

A brake system (10) for carrying out a parking brake function (82) of a vehicle (100), comprising:

• a plurality of individually controllable brake actuators (14), wherein each of the brake actuators (14) is assigned respectively to at least one associated wheel (12) of the vehicle (100) and generates a braking force (16) for braking the associated wheel (12) as a function of a target braking force value (22) assigned to the brake actuator (14),
• a monitoring arrangement (30) that detects a least a first state (38) and a second state (40) of the vehicle,
• a brake control device (20) that receives a parking brake request signal (26) indicating a locking request (28) of a plurality or all of the wheels (12) of the vehicle (100) and, following the receipt of the parking brake request signal (26),
• a) in the case of a first state (38) detected by the monitoring arrangement (30), controls each of the brake actuators (14) respectively with a value (48) predetermined for the respective brake actuator (14) as a target braking force value (22), and
• b) in the case of a second state (40) detected by the monitoring arrangement (30), controls at least one of the brake actuators (14) with a target braking force value (22) that corresponds to a sum (72) of the value (48) predetermined for the at least one brake actuator (14) being controlled in the case of the second state and a compensation value component (70) determined for the at least one brake actuator (14) being controlled in the case of the second state.