A brake system (1) having a number of sub-assemblies including a foot brake pedal (14) whose two stages correspond to service and emergency modes. Pneumatic brake modules (6) are assigned to each axle and have a proportional solenoid valve EVP (9). At least one deceleration controlling UCD unit (12) receives information from the pedal related to the pedal's position and electrically controls the brake motor (31) and/or the EVP in the service and emergency modes. A pneumatic control circuit, which is actuated in the emergency mode, controls the EVP directly from the pneumatic box (19) of the pedal. The brake system (1) is suitable for articulated multi-axle road vehicles and used, in particular, for passenger transport.