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 , the method comprising the steps of: providing an electronic brake system (EBS) 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 (EPS) 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 (EBS) 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 (EPS) 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. <EOS>