Brake by wire system with separate controllers and both position and force input sensors

A vehicle braking system comprising, in combination:

• a first brake actuator responsive to a first brake command signal to generate a first controlled braking force;
• a second brake actuator responsive to a second brake command signal to generate a second controlled braking force;
• a brake apply input member;
• a first sensor responsive to position of the brake apply input member to generate a brake apply input position signal;
• a second sensor responsive to force exerted on the brake apply input member to generate a brake apply input force signal;
• a first controller connected to receive the brake apply input position signal from the first sensor and generate the first brake command signal;
• a second controller connected to receive the brake apply input force signal from the second sensor and generate the second brake command signal;
• a bi-directional data communication link connected between the first and second controllers for sharing data based on the brake apply input position signal and the brake apply input force signal;
• means in the first controller for generating the first brake command signal in response to the brake apply input position signal and the brake apply input force signal when the brake apply input force signal is provided by the second controller over the bi-directional communication link and alternatively in response to only the brake apply input position signal when the brake apply input force signal is not so provided;
• and
• means in the second controller for generating the second brake command signal in response to the brake apply input position signal and the brake apply input force signal when the brake apply input position signal is provided from the first controller over the bi-directional communication link and alternatively in response to only the brake apply input force signal when the brake apply input position signal is not so provided.