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 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 , 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 , 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 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 , 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 , 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 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 , 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 , wherein the frictional braking force includes both the mechanical braking force and an amplified braking force. <EOS>