A vehicle braking system comprising: a first brake system controller (101, 201, 301, 401) configured to monitor a status of an electric parking brake switch (111, 211, 315, 415), transmit a control signal to a motor-on-caliper actuator (113, 115, 213, 215, 313, 317, 413, 417) based on the status of the electric parking brake switch (111, 211, 315, 415), wherein the control signal causes the motor-on-caliper actuator (113, 115, 213, 215, 313, 317, 413, 417) to extend a caliper piston and apply a clamping force to a brake rotor when the electric parking brake switch (111, 211, 315, 415) is in an on-state, and wherein the control signal causes the motor-on caliper actuator (113, 115, 213, 215, 313, 317, 413, 417) to retract the caliper piston when the electric parking brake switch (111, 211, 315, 415) is in an off-state; and characterised by a second brake system controller (103, 203, 307, 407) configured to control at least one function of the braking system not related to a parking brake function, determine whether the first brake system controller (101, 201, 301, 401) is operating properly, and in response to determining that the first brake system controller (101, 201, 301, 401) is not operating properly, monitor the status of the electric parking brake switch (111, 211, 315, 415) and transmit the control signal to the motor-on-caliper actuator (113, 115, 213, 215, 313, 317, 413, 417) based on the status of the electric parking brake switch (111, 211, 315, 415). a first brake system controller (101, 201, 301, 401) configured to monitor a status of an electric parking brake switch (111, 211, 315, 415), transmit a control signal to a motor-on-caliper actuator (113, 115, 213, 215, 313, 317, 413, 417) based on the status of the electric parking brake switch (111, 211, 315, 415), wherein the control signal causes the motor-on-caliper actuator (113, 115, 213, 215, 313, 317, 413, 417) to extend a caliper piston and apply a clamping force to a brake rotor when the electric parking brake switch (111, 211, 315, 415) is in an on-state, and wherein the control signal causes the motor-on caliper actuator (113, 115, 213, 215, 313, 317, 413, 417) to retract the caliper piston when the electric parking brake switch (111, 211, 315, 415) is in an off-state; and characterised by monitor a status of an electric parking brake switch (111, 211, 315, 415), transmit a control signal to a motor-on-caliper actuator (113, 115, 213, 215, 313, 317, 413, 417) based on the status of the electric parking brake switch (111, 211, 315, 415), wherein the control signal causes the motor-on-caliper actuator (113, 115, 213, 215, 313, 317, 413, 417) to extend a caliper piston and apply a clamping force to a brake rotor when the electric parking brake switch (111, 211, 315, 415) is in an on-state, and wherein the control signal causes the motor-on caliper actuator (113, 115, 213, 215, 313, 317, 413, 417) to retract the caliper piston when the electric parking brake switch (111, 211, 315, 415) is in an off-state; and characterised by a second brake system controller (103, 203, 307, 407) configured to control at least one function of the braking system not related to a parking brake function, determine whether the first brake system controller (101, 201, 301, 401) is operating properly, and in response to determining that the first brake system controller (101, 201, 301, 401) is not operating properly, monitor the status of the electric parking brake switch (111, 211, 315, 415) and transmit the control signal to the motor-on-caliper actuator (113, 115, 213, 215, 313, 317, 413, 417) based on the status of the electric parking brake switch (111, 211, 315, 415). control at least one function of the braking system not related to a parking brake function, determine whether the first brake system controller (101, 201, 301, 401) is operating properly, and in response to determining that the first brake system controller (101, 201, 301, 401) is not operating properly, monitor the status of the electric parking brake switch (111, 211, 315, 415) and transmit the control signal to the motor-on-caliper actuator (113, 115, 213, 215, 313, 317, 413, 417) based on the status of the electric parking brake switch (111, 211, 315, 415).