A brake system for braking a vehicle, the brake system comprising for at least one, preferably each, wheel of the vehicle, a respective brake actuator controller configured to apply a respective power signal (Sp) to power a respective brake actuation mechanism for applying an amount of braking to the wheel based at least on a respective actuator control signal (Sa) received by the brake actuator controller; a central controller configured to control the braking of the vehicle by sending the respective actuator control signal (Sa) to each respective brake actuator controller based on a brake intent signal (Si) received by the central controller; wherein each brake actuator controller comprises a main brake circuit configured to provide the power signal (Sp) based on a first actuator control signal (Sa) received from the central controller, a backup brake circuit configured to provide the power signal (Sp), in case the main brake circuit fails, and a switching circuit configured to exclusively relay the power signal (Sp) received from either the main brake circuit or the backup brake circuit to the brake actuation mechanism characterised in that the backup brake circuit is configured to independently provide the power signal (Sp) based on a second actuator control signal (Sa) received from the central controller, and the switching circuit is configured to relay the power signal (Sp) based on a switching signal (Sw) received from the central controller independently of the actuator control signals (Sa). for at least one, preferably each, wheel of the vehicle, a respective brake actuator controller configured to apply a respective power signal (Sp) to power a respective brake actuation mechanism for applying an amount of braking to the wheel based at least on a respective actuator control signal (Sa) received by the brake actuator controller; a central controller configured to control the braking of the vehicle by sending the respective actuator control signal (Sa) to each respective brake actuator controller based on a brake intent signal (Si) received by the central controller; wherein each brake actuator controller comprises a main brake circuit configured to provide the power signal (Sp) based on a first actuator control signal (Sa) received from the central controller, a backup brake circuit configured to provide the power signal (Sp), in case the main brake circuit fails, and a switching circuit configured to exclusively relay the power signal (Sp) received from either the main brake circuit or the backup brake circuit to the brake actuation mechanism a main brake circuit configured to provide the power signal (Sp) based on a first actuator control signal (Sa) received from the central controller, a backup brake circuit configured to provide the power signal (Sp), in case the main brake circuit fails, and a switching circuit configured to exclusively relay the power signal (Sp) received from either the main brake circuit or the backup brake circuit to the brake actuation mechanism the backup brake circuit is configured to independently provide the power signal (Sp) based on a second actuator control signal (Sa) received from the central controller, and the switching circuit is configured to relay the power signal (Sp) based on a switching signal (Sw) received from the central controller independently of the actuator control signals (Sa).