A redundant pneumatic brake control system for use in a vehicle comprising service brakes actuatable by a Pneumatic Control Module, PCM, and pressure-actuated spring brakes, wherein the service brakes are configured to be electrically actuated by a main braking system during normal operation of the vehicle and wherein the redundant pneumatic brake control system is arranged to be activated upon failure of a main braking system of the vehicle, the redundant pneumatic brake control system comprising: - an Electropneumatic Parking Brake module, EPB, configured to generate a controllable EPB pressure, - a first pneumatic connection arranged to connect the EPB to the spring brakes, such that the spring brakes are actuatable by the EPB pressure, - a second pneumatic connection arranged to connect the EPB to a control port of the PCM, such that the generated EPB pressure regulates a control pressure present at the control port, wherein a step response of the second pneumatic connection is shorter than a step response of the first pneumatic connection, characterized in that the redundant pneumatic brake control system comprises: - a pressure control valve, PCV, arranged in the second pneumatic connection, wherein the PCV is controllable to an open position and a closed position, wherein a control pressure at the control port of the PCM is maintained when the PCV is in the closed position and - an electronic control arrangement configured to perform independent control of the pressure-actuated spring brakes and service brakes by alternately controlling the PCV to the open position and the closed position, based on the difference in step response of the first and second pneumatic connections (15,16), while controlling a level of the EPB pressure. - an Electropneumatic Parking Brake module, EPB, configured to generate a controllable EPB pressure, - a first pneumatic connection arranged to connect the EPB to the spring brakes, such that the spring brakes are actuatable by the EPB pressure, - a second pneumatic connection arranged to connect the EPB to a control port of the PCM, such that the generated EPB pressure regulates a control pressure present at the control port, wherein a step response of the second pneumatic connection is shorter than a step response of the first pneumatic connection, characterized in that the redundant pneumatic brake control system comprises: - a pressure control valve, PCV, arranged in the second pneumatic connection, wherein the PCV is controllable to an open position and a closed position, wherein a control pressure at the control port of the PCM is maintained when the PCV is in the closed position and - an electronic control arrangement configured to perform independent control of the pressure-actuated spring brakes and service brakes by alternately controlling the PCV to the open position and the closed position, based on the difference in step response of the first and second pneumatic connections (15,16), while controlling a level of the EPB pressure. - a pressure control valve, PCV, arranged in the second pneumatic connection, wherein the PCV is controllable to an open position and a closed position, wherein a control pressure at the control port of the PCM is maintained when the PCV is in the closed position and - an electronic control arrangement configured to perform independent control of the pressure-actuated spring brakes and service brakes by alternately controlling the PCV to the open position and the closed position, based on the difference in step response of the first and second pneumatic connections (15,16), while controlling a level of the EPB pressure.