A method for controlling a braking system of a vehicle, comprising steps of: - detecting , by a first plurality of detection devices distributed on the braking system of the vehicle, first information representative of a condition of motion of the vehicle; - detecting , by a second plurality of detection devices belonging to a first driver-assistance sub-system associated with the vehicle, second information (I2) representative of a condition of motion of the vehicle; - determining , by a first data processing block , a first control signal (SC1) of a braking module of the vehicle based on said first information and said second information (I2), the step of determining the first control signal (SC1) of the braking module of the vehicle further comprises: - a respective first step of checking , by the first data processing block , whether said first information is representative of a first stopped vehicle condition; - a second step of checking , by the first data processing block , whether said second information (I2) is representative of a second stopped vehicle condition, if the first step of checking and the second step of checking have as outcome that at least either the first stopped vehicle condition or the second stopped vehicle condition is not checked, the first control signal (SC1) comprises an activation signal of the vehicle braking module which applies a braking action on the vehicle; - controlling , by the first data processing block , the braking module of the vehicle based on the determined first control signal (SC1). - detecting , by a first plurality of detection devices distributed on the braking system of the vehicle, first information representative of a condition of motion of the vehicle; - detecting , by a second plurality of detection devices belonging to a first driver-assistance sub-system associated with the vehicle, second information (I2) representative of a condition of motion of the vehicle; - determining , by a first data processing block , a first control signal (SC1) of a braking module of the vehicle based on said first information and said second information (I2), the step of determining the first control signal (SC1) of the braking module of the vehicle further comprises: - a respective first step of checking , by the first data processing block , whether said first information is representative of a first stopped vehicle condition; - a second step of checking , by the first data processing block , whether said second information (I2) is representative of a second stopped vehicle condition, if the first step of checking and the second step of checking have as outcome that at least either the first stopped vehicle condition or the second stopped vehicle condition is not checked, the first control signal (SC1) comprises an activation signal of the vehicle braking module which applies a braking action on the vehicle; - a respective first step of checking , by the first data processing block , whether said first information is representative of a first stopped vehicle condition; - a second step of checking , by the first data processing block , whether said second information (I2) is representative of a second stopped vehicle condition, - controlling , by the first data processing block , the braking module of the vehicle based on the determined first control signal (SC1). <EOS>