A method for controlling a vehicle includes operating a braking system in robotic control state, determining that an emergency stop state is to be entered by the braking system, entering the emergency stop state upon determining that all conditions from a group of state entry conditions are satisfied, decelerating the vehicle using the braking system while in the emergency stop state, determining, while in the emergency stop state, that all conditions from a group of state exit conditions are satisfied, and exiting the emergency stop state in response to determining that all conditions from the group of state exit conditions are satisfied.