A braking system of a vehicle comprising: a first electronic control unit connected to a first power supply; a second electronic control unit connected to a second power supply, the second electronic control unit communicatively coupled to the first electronic control unit; a first wheel speed sensor; a second wheel speed sensor; a third wheel speed sensor; and a fourth wheel speed sensor; wherein the first wheel speed sensor and the second wheel speed sensor are directly coupled to and powered by the first electronic control unit and are communicatively coupled to the second electronic control unit; the third wheel speed sensor and the fourth wheel speed sensor are directly coupled to and powered by the second electronic control unit and are communicatively coupled to the first electronic control unit; and the first electronic control unit and the second electronic control unit each configured to calculate a wheel speed from the first wheel speed sensor, the second wheel speed sensor, the third wheel speed sensor, and the fourth wheel speed sensor, wherein the second control unit is configured to receive second data from the first wheel speed sensor, the second wheel speed sensor, the third wheel speed sensor, and the fourth wheel speed sensor, the braking system further comprising a second electronic processor configured to calculate from the second data a secondary first wheel speed, a secondary second wheel speed, a secondary third wheel speed, and a secondary fourth wheel speed; wherein the second electronic control unit is configured to transmit the secondary first wheel speed, the secondary second wheel speed, the secondary third wheel speed, and the secondary fourth wheel speed to the first electronic control unit; characterized in that the first electronic control unit and the second electronic control unit are each configured: to generate a comparison of at least one of the first wheel speed, the second wheel speed, the third wheel speed, or the fourth wheel speed to at least one of the corresponding secondary first wheel speed, secondary second wheel speed, the secondary third wheel speed, or the secondary fourth wheel speed; to determine a discrepancy between the comparison; to exchange a self-failsafe monitoring status; and to determine, from the self-failsafe monitoring status, which between the first electronic control unit and the second electronic control unit is experiencing a failure. a first electronic control unit connected to a first power supply; a second electronic control unit connected to a second power supply, the second electronic control unit communicatively coupled to the first electronic control unit; a first wheel speed sensor; a second wheel speed sensor; a third wheel speed sensor; and a fourth wheel speed sensor; wherein the first wheel speed sensor and the second wheel speed sensor are directly coupled to and powered by the first electronic control unit and are communicatively coupled to the second electronic control unit; the third wheel speed sensor and the fourth wheel speed sensor are directly coupled to and powered by the second electronic control unit and are communicatively coupled to the first electronic control unit; and the first electronic control unit and the second electronic control unit each configured to calculate a wheel speed from the first wheel speed sensor, the second wheel speed sensor, the third wheel speed sensor, and the fourth wheel speed sensor, wherein the second control unit is configured to receive second data from the first wheel speed sensor, the second wheel speed sensor, the third wheel speed sensor, and the fourth wheel speed sensor, the braking system further comprising a second electronic processor configured to calculate from the second data a secondary first wheel speed, a secondary second wheel speed, a secondary third wheel speed, and a secondary fourth wheel speed; wherein the second electronic control unit is configured to transmit the secondary first wheel speed, the secondary second wheel speed, the secondary third wheel speed, and the secondary fourth wheel speed to the first electronic control unit; characterized in that the first electronic control unit and the second electronic control unit are each configured: to generate a comparison of at least one of the first wheel speed, the second wheel speed, the third wheel speed, or the fourth wheel speed to at least one of the corresponding secondary first wheel speed, secondary second wheel speed, the secondary third wheel speed, or the secondary fourth wheel speed; to determine a discrepancy between the comparison; to exchange a self-failsafe monitoring status; and to determine, from the self-failsafe monitoring status, which between the first electronic control unit and the second electronic control unit is experiencing a failure. to generate a comparison of at least one of the first wheel speed, the second wheel speed, the third wheel speed, or the fourth wheel speed to at least one of the corresponding secondary first wheel speed, secondary second wheel speed, the secondary third wheel speed, or the secondary fourth wheel speed; to determine a discrepancy between the comparison; to exchange a self-failsafe monitoring status; and to determine, from the self-failsafe monitoring status, which between the first electronic control unit and the second electronic control unit is experiencing a failure.