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The automotive industry is replacing more and more hydraulic systems by electronic system. This not only reduces the weight of vehicles, but also has the potential for a large number of new features [1]. Such a change has led to researches on XbW(X-by-Wire) without the existing mechanical connection and hydraulic system, among which the study on BbW(Brake-by-Wire) in relation to brake devices proceeded to the point of EHB(Electro-Hydraulic-Brake) and then EMB(Electro-Mechanical-Brake). In replacement of existing CBS(Conventional Brake System) with EMB, various advantages such as improvement of response performance and easy combination with various brake applications including ABS and ESC have been found. In fact, however, the problem of fail-safe has remained. This study, therefore, is to develop the control strategy with which the vehicle's longitudinal and lateral motion can follow the driver's steering intention upon failure of one EMB actuator for braking in straight and corner.