Failsafe Fahrspurzentriersteuerung using differential brakes

A method, a system and a non-temporary computer-readable medium for a fail-safe function of a Fahrspurzentriersystems. An electric power steering system (EPS) system of a vehicle is monitored for a failure and the operation of the Fahrspurzentriersystems is switched upon detecting that a failure of the EPS system has occurred on a differential brake controller to output differential brake commands to a differential brake system, the braking commands issued the differential brake system instruct to apply a force to a brake for a wheel of the vehicle so that the vehicle follows the braking force applied to a particular desired path for a Fahrspurzentriervorgang.