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A compact, reliable, and robust auxiliary vacuum brake system has been implemented by utilizing a programmable system-on-chip (PSoC). All the circuit elements in this control system are integrated into one chip without any external electronic components. Circuit as well as system is compact in size and concise in design. Also, Kalman filter algorithm is employed and implemented within PSoC chip by software to surpass the noises and disturbances from hostile surrounding in the vehicle. A prototype has been built and tested. Test results have confirmed that the performance of Kalman filter is better than that of low-pass filter. Furthermore, Kalman filter is capable of dealing with noises and disturbances from vacuum pump and other sources while low-pass filter is not.