A braking system for a vehicle comprising: a friction braking system; a regenerative braking system; and an electronic processor communicatively coupled to the friction braking system and the regenerative braking system, the electronic processor configured to: receive a driver brake request; determine a brake failure state, the brake failure state indicating a brake failure; and in response to determining the brake failure state, apply a braking force based on the driver brake request, wherein a total braking force applied to a plurality of wheels includes a ratio of the regenerative braking force and of the frictional braking force, the ratio being determined based on a type of brake failure, wherein the regenerative braking system includes more than one e-motor each coupled or connected to at least one of the wheels (118, 120, 122, 124) of the vehicle, wherein in the case of a brake boost system failure, the regenerative braking force is applied to the wheels of a single axle of the vehicle and a mechanical force is applied to all the wheels (118, 120,122, 124), and wherein in the case of a single brake circuit failure the regenerative braking force is applied to a single axle while the frictional braking force is applied to all the wheels (118, 120, 122, 124), wherein the frictional braking force includes both the mechanical braking force and an amplified braking force. a friction braking system; a regenerative braking system; and an electronic processor communicatively coupled to the friction braking system and the regenerative braking system, the electronic processor configured to: receive a driver brake request; determine a brake failure state, the brake failure state indicating a brake failure; and in response to determining the brake failure state, apply a braking force based on the driver brake request, wherein a total braking force applied to a plurality of wheels includes a ratio of the regenerative braking force and of the frictional braking force, the ratio being determined based on a type of brake failure, wherein the regenerative braking system includes more than one e-motor each coupled or connected to at least one of the wheels (118, 120, 122, 124) of the vehicle, wherein in the case of a brake boost system failure, the regenerative braking force is applied to the wheels of a single axle of the vehicle and a mechanical force is applied to all the wheels (118, 120,122, 124), and wherein in the case of a single brake circuit failure the regenerative braking force is applied to a single axle while the frictional braking force is applied to all the wheels (118, 120, 122, 124), wherein the frictional braking force includes both the mechanical braking force and an amplified braking force. receive a driver brake request; determine a brake failure state, the brake failure state indicating a brake failure; and in response to determining the brake failure state, apply a braking force based on the driver brake request, wherein a total braking force applied to a plurality of wheels includes a ratio of the regenerative braking force and of the frictional braking force, the ratio being determined based on a type of brake failure, wherein the regenerative braking system includes more than one e-motor each coupled or connected to at least one of the wheels (118, 120, 122, 124) of the vehicle, wherein in the case of a brake boost system failure, the regenerative braking force is applied to the wheels of a single axle of the vehicle and a mechanical force is applied to all the wheels (118, 120,122, 124), and wherein in the case of a single brake circuit failure the regenerative braking force is applied to a single axle while the frictional braking force is applied to all the wheels (118, 120, 122, 124), wherein the frictional braking force includes both the mechanical braking force and an amplified braking force.