A brake system may include a first module, comprising a first pressure supply unit having an electromotive drive, a second pressure supply unit having an activation element, e.g., a brake pedal, and a first control apparatus for controlling the first pressure supply unit. The first module is set up to apply pressurizing medium to at least one first brake circuit via a first connection point and to at least one second brake circuit via a second connection point. The brake circuits are assigned wheel brakes, and the brake system is configured to implement an active retraction of at least one brake pad of the wheel brakes by generating a vacuum using the first pressure supply unit. Differences between/among clearances in the wheel brakes may be compensated using associated inlet valves.

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.

A vehicle control system for a vehicle having a braking system and active suspension system is provided. The vehicle control system may be configured to adjust a normal component of a wheel force at one or more wheels of the vehicle to increase an average traction force at the one or more wheels during a braking event. The vehicle control system may adjust a normal component of a wheel force at one or more wheels based on reference road information, forward-looking road information, and/or vehicle sensor data.