Brake system for a vehicle, wherein the brake system comprises: a first electric power supply unit and a second electric power supply unit; an electronic brake control unit, wherein the electronic brake control unit is connected to the first electric power supply unit; a first axle pressure modulator for service brake chambers associated with a first axle of the vehicle, wherein the first axle pressure modulator is connected to the electronic brake control unit; a second axle pressure modulator for spring brake cylinders associated with a second axle of the vehicle, wherein the second axle pressure modulator is connected to the electronic brake control unit; a redundant brake pedal sensor, wherein the redundant brake pedal sensor is connected to the electronic brake control unit; characterized by a first pressure modulator and a second pressure modulator, wherein the first pressure modulator and the second pressure modulator are connected to the second electric power supply unit and to the redundant brake pedal sensor, wherein the first pressure modulator is fluidically connected to the first axle pressure modulator, wherein the second pressure modulator is fluidically connected to the second axle pressure modulator, wherein the redundant brake pedal sensor is configured to issue a first control signal for the electronic brake control unit and a second control signal for controlling first pressure modulator and the second pressure modulator, wherein the first pressure modulator is configured to command pneumatic control pressure for the first axle pressure modulator depending on the second control signal from the redundant brake pedal sensor, wherein the second pressure modulator is configured to command pneumatic control pressure for the second axle pressure modulator depending on the second control signal from the redundant brake pedal sensor. a first electric power supply unit and a second electric power supply unit; an electronic brake control unit, wherein the electronic brake control unit is connected to the first electric power supply unit; a first axle pressure modulator for service brake chambers associated with a first axle of the vehicle, wherein the first axle pressure modulator is connected to the electronic brake control unit; a second axle pressure modulator for spring brake cylinders associated with a second axle of the vehicle, wherein the second axle pressure modulator is connected to the electronic brake control unit; a redundant brake pedal sensor, wherein the redundant brake pedal sensor is connected to the electronic brake control unit; characterized by a first pressure modulator and a second pressure modulator, wherein the first pressure modulator and the second pressure modulator are connected to the second electric power supply unit and to the redundant brake pedal sensor, wherein the first pressure modulator is fluidically connected to the first axle pressure modulator, wherein the second pressure modulator is fluidically connected to the second axle pressure modulator, wherein the redundant brake pedal sensor is configured to issue a first control signal for the electronic brake control unit and a second control signal for controlling first pressure modulator and the second pressure modulator, wherein the first pressure modulator is configured to command pneumatic control pressure for the first axle pressure modulator depending on the second control signal from the redundant brake pedal sensor, wherein the second pressure modulator is configured to command pneumatic control pressure for the second axle pressure modulator depending on the second control signal from the redundant brake pedal sensor.