Methods for determining or estimating a first brake pressure for a first brake actuator. Methods are directed towards, for example, situations where a pressure-medium-actuated brake device of at least one first wheel, at which a brake-pressure buildup is necessary during a braking operation, at which for example, there is no first wheel-speed sensor. Methods are also directed towards situations, for example, where a first wheel-speed sensor does not produce a first wheel-speed signal. Methods include determining, measuring, or estimating, during the braking operation and/or during the execution of the controlling operation, a second brake pressure for a second brake actuator.

An electropneumatic service brake device (1) for a vehicle, comprising: at least one pneumatic service brake cylinder (BZ1), loadable with a first service brake pressure (p1), and at least one second pneumatic service brake cylinder (BZ2), loadable with a second service brake pressure (p2), a foot brake actuation device (5), a pneumatic foot brake valve device (FBV, FBM), provided and configured to generate a first control pressure (Stp1) and a second control pressure (Stp2) as a function of an actuation of the foot brake actuation device (5), an electronic service brake control (EBS-ECU), provided and configured to generate an electrical control signal as a function of an electrical brake request signal, wherein the electrical control signal represents a nominal service brake pressure, a first electropneumatic solenoid valve device (2C-EVO), provided and configured to be electrically controllable by the electrical control signal, or pneumatically controllable by the first control pressure (Stp1).

An electro-pneumatic central pressure control module, having at least two channels, implemented as a structural unit for an electro-pneumatic service brake of a vehicle, having at least two pressure control channels which are electrically controllable with regard to a brake pressure. A central electronic brake control device has a board, carrying electrical and electronic components, in which routines at least for controlling the brake pressure and for controlling the driving dynamics are implemented in the electrical and electronic components. At least one inertial sensor is arranged on or at the at least one board and is electrically conductively connected to at least several of the electrical and electronic components on the board so that the output signals of the at least one inertial sensor are integrated into the at least several electrical and electronic components for carrying out the control of the driving dynamics.