Patent ID: 11904861
Assignee: HYUNDAI MOTOR COMPANY
Field: Transport (Mechanical engineering)
Classification: CPC B | IPC B

Claim 14:
15. The method of claim 12, wherein the addition of the braking forces includes:
setting a final braking force that finally acts on the axle, to which the braking force is applied, for braking of the vehicle being driven;
determining a target braking force to be added to the axle to which the braking force is applied so that the set final braking force is configured for being applied, and a target driving force to be added to the axle, to which the driving force is applied so that a speed of the vehicle is maintained by canceling the target braking force, and
determining a target braking torque and a target driving torque, which are applied to each of a front wheel and a rear wheel of the vehicle, as a target wheel torque when the target braking force is added to the axle to which the braking force is applied and the target driving force is added to the axle to which the driving force is applied.