A method of correcting steering of a vehicle upon a brake system malfunction, the brake system having a diagonal split layout including two brake circuits with a first brake circuit including a first hydraulic brake line connected between a right front brake and a left rear brake, and with a second brake circuit including a second hydraulic brake line connected between a left front brake and a right rear brake, the brake system further including a master cylinder constructed and arranged to control fluid flow in the brake lines (12, 18), the method comprising the steps of: providing an electronic brake system including a control unit having a processor circuit, the control unit being constructed and arranged to control operation of the master cylinder, providing an electronic power steering system including a processor circuit, and sensors constructed and arranged to measure motion and torque of a steering column of the vehicle and including a motor constructed and arranged to provide torque to the steering column, determining by the EBS during driver braking, if one of the brake circuits has failed causing steering of the vehicle to deviate towards a front wheel side that has brake torque, and if one of the brake circuits has failed: calculating, in one of the processor circuits, a yaw torque value introduced by a driver braking with just one functioning brake circuit, based on a steer wheel angle and a steer wheel torque obtained from the sensors of the EPS and on the yaw torque value, calculating in the one processor circuit, a steer wheel torque request defining a steer wheel torque/angle needed to counter the yaw torque value, and sending the steer wheel torque request to the EPS, with the EPS providing a driver steer recommendation to compensate for the steering deviation. providing an electronic brake system including a control unit having a processor circuit, the control unit being constructed and arranged to control operation of the master cylinder, providing an electronic power steering system including a processor circuit, and sensors constructed and arranged to measure motion and torque of a steering column of the vehicle and including a motor constructed and arranged to provide torque to the steering column, determining by the EBS during driver braking, if one of the brake circuits has failed causing steering of the vehicle to deviate towards a front wheel side that has brake torque, and if one of the brake circuits has failed: calculating, in one of the processor circuits, a yaw torque value introduced by a driver braking with just one functioning brake circuit, based on a steer wheel angle and a steer wheel torque obtained from the sensors of the EPS and on the yaw torque value, calculating in the one processor circuit, a steer wheel torque request defining a steer wheel torque/angle needed to counter the yaw torque value, and sending the steer wheel torque request to the EPS, with the EPS providing a driver steer recommendation to compensate for the steering deviation. calculating, in one of the processor circuits, a yaw torque value introduced by a driver braking with just one functioning brake circuit, based on a steer wheel angle and a steer wheel torque obtained from the sensors of the EPS and on the yaw torque value, calculating in the one processor circuit, a steer wheel torque request defining a steer wheel torque/angle needed to counter the yaw torque value, and sending the steer wheel torque request to the EPS, with the EPS providing a driver steer recommendation to compensate for the steering deviation.