A braking system in an at least partially autonomous vehicle, having one vehicle wheel brake per vehicle wheel and having a primary brake regulation system and a redundant secondary brake regulation system. One hydraulic actuator for actuating the vehicle brake is provided per vehicle wheel in a first vehicle axle which actuator is assigned to both the primary brake regulation system and also the secondary brake regulation system. One electromechanical primary actuator per vehicle wheel is assigned to the primary brake regulation system in the second vehicle axle and one electromechanical secondary actuator is assigned to the secondary brake regulation system.