Systems and methods for a braking a vehicle. In one example, the braking system includes a friction braking system, a regenerative braking system, and an electronic processor. The electronic processor is communicatively coupled to the friction braking system and the regenerative braking system. The electronic processor is configured to receive a driver brake request and determine a brake failure state. The brake failure state indicates a brake failure. In response to determining the brake failure state, the electronic processor applies a braking force based on the driver brake request. The braking force includes a frictional braking force generated by the friction braking system and a regenerative braking force generated by the regenerative braking system.