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 . <EOS>