Brake system for a vehicle is provided, comprising a first hydraulic circuit including a first wheel brake, a second hydraulic circuit including a second wheel brake, a first electromechanical brake assembly including a third wheel brake, a second electromechanical brake assembly including a fourth wheel brake, a first hydraulic pressure supplier including an actuator for pressurizing the first hydraulic circuit, a second hydraulic pressure supplier including an actuator for pressurizing the second hydraulic circuit, a first control unit configured to activate the first hydraulic pressure supplier and the second hydraulic pressure supplier and control the first electromechanical brake assembly and the second electromechanical brake assembly, depending on a brake request, and a second control unit configured to activate the first hydraulic pressure supplier and the second hydraulic pressure supplier and control the first electromechanical brake assembly and the second electromechanical brake assembly, depending on a brake request.

A control device and method for a recuperative brake system of a vehicle. In the method, if a requested vehicle deceleration can only partially be produced using at least one electric motor, a differential pressure control is carried out in the wheel brake cylinders, including: defining a target differential pressure for first and second wheel brake cylinders, actuating at least one wheel inlet valve arranged upstream of the second wheel brake cylinders, using a current signal output to the wheel inlet valve taking into consideration the defined target differential pressure, and defining a target current strength of the current signal taking into consideration the defined target differential pressure. The target current strength of the current signal or the initial value of the target current strength is selected from a set of values including at least three current strength values, taking into consideration the defined target differential pressure.