Brake device and control method thereof

A brake device comprising:

• a first brake module and a second brake module respectively associated with braking of right side and left side wheels of a first axle of a vehicle;
• a third brake module and a fourth brake module respectively associated with braking of right side and left side wheels of a second axle of the vehicle;
• and
• a controller configured to control the first, second, third, and fourth brake modules based on a pedal signal associated with movement of a brake pedal,
• wherein the controller is configured to:
• based on identifying a failure of at least one of the first, second, third and fourth brake modules, request a driving device of the vehicle to perform regenerative braking of a wheel associated with a with-failure brake module from among the first, second, third, and fourth brake modules and control a braking torque of a without-failure brake module from among the first, second, third and fourth brake modules, and
• based on braking torques applied to the left side wheels being different from braking torques applied to the right side wheels, request a steering device of the vehicle to steer the vehicle.